2025-09-24 00:23:11,953 - 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 0,1,2,3,4,5,6,7: NVIDIA A800-SXM4-80GB
CUDA_HOME: /usr/local/cuda-11.1
NVCC: Build cuda_11.1.TC455_06.29069683_0
GCC: gcc (Ubuntu 9.5.0-1ubuntu1~22.04) 9.5.0
PyTorch: 1.9.1+cu111
PyTorch compiling details: PyTorch built with:
  - GCC 7.3
  - 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 v2.1.2 (Git Hash 98be7e8afa711dc9b66c8ff3504129cb82013cdb)
  - OpenMP 201511 (a.k.a. OpenMP 4.5)
  - NNPACK is enabled
  - CPU capability usage: AVX2
  - CUDA Runtime 11.1
  - 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 8.0.5
  - Magma 2.5.2
  - Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.1, CUDNN_VERSION=8.0.5, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -DSYMBOLICATE_MOBILE_DEBUG_HANDLE -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -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 -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.9.1, 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, 

TorchVision: 0.10.1+cu111
OpenCV: 4.7.0
MMCV: 1.4.0
MMCV Compiler: GCC 9.5
MMCV CUDA Compiler: 11.1
MMDetection: 2.14.0
MMSegmentation: 0.14.1
MMDetection3D: 0.17.1+3c74fe6
------------------------------------------------------------

2025-09-24 00:23:13,095 - mmdet - INFO - Distributed training: True
2025-09-24 00:23:14,350 - mmdet - INFO - Config:
point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]
class_names = [
    'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',
    'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
]
dataset_type = 'VADCustomNuScenesDataset'
data_root = 'data/nuscenes/'
input_modality = dict(
    use_lidar=False,
    use_camera=True,
    use_radar=False,
    use_map=False,
    use_external=True)
file_client_args = dict(backend='disk')
train_pipeline = [
    dict(type='LoadMultiViewImageFromFiles', to_float32=True),
    dict(type='PhotoMetricDistortionMultiViewImage'),
    dict(
        type='LoadAnnotations3D',
        with_bbox_3d=True,
        with_label_3d=True,
        with_attr_label=True),
    dict(
        type='CustomObjectRangeFilter',
        point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),
    dict(
        type='CustomObjectNameFilter',
        classes=[
            'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
            'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
        ]),
    dict(
        type='NormalizeMultiviewImage',
        mean=[123.675, 116.28, 103.53],
        std=[58.395, 57.12, 57.375],
        to_rgb=True),
    dict(type='RandomScaleImageMultiViewImage', scales=[0.4]),
    dict(type='PadMultiViewImage', size_divisor=32),
    dict(
        type='CustomDefaultFormatBundle3D',
        class_names=[
            'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
            'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
        ],
        with_ego=True),
    dict(
        type='CustomCollect3D',
        keys=[
            'gt_bboxes_3d', 'gt_labels_3d', 'img', 'fut_valid_flag',
            'ego_his_trajs', 'ego_fut_trajs', 'ego_fut_masks', 'ego_fut_cmd',
            'ego_lcf_feat', 'gt_attr_labels'
        ])
]
test_pipeline = [
    dict(type='LoadMultiViewImageFromFiles', to_float32=True),
    dict(
        type='LoadPointsFromFile',
        coord_type='LIDAR',
        load_dim=5,
        use_dim=5,
        file_client_args=dict(backend='disk')),
    dict(
        type='LoadAnnotations3D',
        with_bbox_3d=True,
        with_label_3d=True,
        with_attr_label=True),
    dict(
        type='CustomObjectRangeFilter',
        point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),
    dict(
        type='CustomObjectNameFilter',
        classes=[
            'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
            'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
        ]),
    dict(
        type='NormalizeMultiviewImage',
        mean=[123.675, 116.28, 103.53],
        std=[58.395, 57.12, 57.375],
        to_rgb=True),
    dict(
        type='MultiScaleFlipAug3D',
        img_scale=(1600, 900),
        pts_scale_ratio=1,
        flip=False,
        transforms=[
            dict(type='RandomScaleImageMultiViewImage', scales=[0.4]),
            dict(type='PadMultiViewImage', size_divisor=32),
            dict(
                type='CustomDefaultFormatBundle3D',
                class_names=[
                    'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
                    'barrier', 'motorcycle', 'bicycle', 'pedestrian',
                    'traffic_cone'
                ],
                with_label=False,
                with_ego=True),
            dict(
                type='CustomCollect3D',
                keys=[
                    'points', 'gt_bboxes_3d', 'gt_labels_3d', 'img',
                    'fut_valid_flag', 'ego_his_trajs', 'ego_fut_trajs',
                    'ego_fut_masks', 'ego_fut_cmd', 'ego_lcf_feat',
                    'gt_attr_labels'
                ])
        ])
]
eval_pipeline = [
    dict(
        type='LoadPointsFromFile',
        coord_type='LIDAR',
        load_dim=5,
        use_dim=5,
        file_client_args=dict(backend='disk')),
    dict(
        type='LoadPointsFromMultiSweeps',
        sweeps_num=10,
        file_client_args=dict(backend='disk')),
    dict(
        type='DefaultFormatBundle3D',
        class_names=[
            'car', 'truck', 'trailer', 'bus', 'construction_vehicle',
            'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier'
        ],
        with_label=False),
    dict(type='Collect3D', keys=['points'])
]
data = dict(
    samples_per_gpu=1,
    workers_per_gpu=8,
    train=dict(
        type='VADCustomNuScenesDataset',
        data_root='data/nuscenes/',
        ann_file='data/nuscenes/vad_nuscenes_infos_temporal_train.pkl',
        pipeline=[
            dict(type='LoadMultiViewImageFromFiles', to_float32=True),
            dict(type='PhotoMetricDistortionMultiViewImage'),
            dict(
                type='LoadAnnotations3D',
                with_bbox_3d=True,
                with_label_3d=True,
                with_attr_label=True),
            dict(
                type='CustomObjectRangeFilter',
                point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),
            dict(
                type='CustomObjectNameFilter',
                classes=[
                    'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
                    'barrier', 'motorcycle', 'bicycle', 'pedestrian',
                    'traffic_cone'
                ]),
            dict(
                type='NormalizeMultiviewImage',
                mean=[123.675, 116.28, 103.53],
                std=[58.395, 57.12, 57.375],
                to_rgb=True),
            dict(type='RandomScaleImageMultiViewImage', scales=[0.4]),
            dict(type='PadMultiViewImage', size_divisor=32),
            dict(
                type='CustomDefaultFormatBundle3D',
                class_names=[
                    'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
                    'barrier', 'motorcycle', 'bicycle', 'pedestrian',
                    'traffic_cone'
                ],
                with_ego=True),
            dict(
                type='CustomCollect3D',
                keys=[
                    'gt_bboxes_3d', 'gt_labels_3d', 'img', 'fut_valid_flag',
                    'ego_his_trajs', 'ego_fut_trajs', 'ego_fut_masks',
                    'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels'
                ])
        ],
        classes=[
            'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
            'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
        ],
        modality=dict(
            use_lidar=False,
            use_camera=True,
            use_radar=False,
            use_map=False,
            use_external=True),
        test_mode=False,
        box_type_3d='LiDAR',
        interval_2frames=True,
        use_valid_flag=True,
        bev_size=(100, 100),
        pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],
        queue_length=4,
        map_classes=['divider', 'ped_crossing', 'boundary'],
        map_fixed_ptsnum_per_line=20,
        map_eval_use_same_gt_sample_num_flag=True,
        custom_eval_version='vad_nusc_detection_cvpr_2019'),
    val=dict(
        type='VADCustomNuScenesDataset',
        ann_file='data/nuscenes/vad_nuscenes_infos_temporal_val.pkl',
        pipeline=[
            dict(type='LoadMultiViewImageFromFiles', to_float32=True),
            dict(
                type='LoadPointsFromFile',
                coord_type='LIDAR',
                load_dim=5,
                use_dim=5,
                file_client_args=dict(backend='disk')),
            dict(
                type='LoadAnnotations3D',
                with_bbox_3d=True,
                with_label_3d=True,
                with_attr_label=True),
            dict(
                type='CustomObjectRangeFilter',
                point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),
            dict(
                type='CustomObjectNameFilter',
                classes=[
                    'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
                    'barrier', 'motorcycle', 'bicycle', 'pedestrian',
                    'traffic_cone'
                ]),
            dict(
                type='NormalizeMultiviewImage',
                mean=[123.675, 116.28, 103.53],
                std=[58.395, 57.12, 57.375],
                to_rgb=True),
            dict(
                type='MultiScaleFlipAug3D',
                img_scale=(1600, 900),
                pts_scale_ratio=1,
                flip=False,
                transforms=[
                    dict(type='RandomScaleImageMultiViewImage', scales=[0.4]),
                    dict(type='PadMultiViewImage', size_divisor=32),
                    dict(
                        type='CustomDefaultFormatBundle3D',
                        class_names=[
                            'car', 'truck', 'construction_vehicle', 'bus',
                            'trailer', 'barrier', 'motorcycle', 'bicycle',
                            'pedestrian', 'traffic_cone'
                        ],
                        with_label=False,
                        with_ego=True),
                    dict(
                        type='CustomCollect3D',
                        keys=[
                            'points', 'gt_bboxes_3d', 'gt_labels_3d', 'img',
                            'fut_valid_flag', 'ego_his_trajs', 'ego_fut_trajs',
                            'ego_fut_masks', 'ego_fut_cmd', 'ego_lcf_feat',
                            'gt_attr_labels'
                        ])
                ])
        ],
        classes=[
            'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
            'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
        ],
        modality=dict(
            use_lidar=False,
            use_camera=True,
            use_radar=False,
            use_map=False,
            use_external=True),
        test_mode=True,
        box_type_3d='LiDAR',
        data_root='data/nuscenes/',
        queue_length=4,
        pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],
        interval_2frames=True,
        bev_size=(100, 100),
        samples_per_gpu=1,
        map_classes=['divider', 'ped_crossing', 'boundary'],
        map_ann_file='data/nuscenes/nuscenes_map_anns_val.json',
        map_fixed_ptsnum_per_line=20,
        map_eval_use_same_gt_sample_num_flag=True,
        use_pkl_result=True,
        custom_eval_version='vad_nusc_detection_cvpr_2019'),
    test=dict(
        type='VADCustomNuScenesDataset',
        data_root='data/nuscenes/',
        ann_file='data/nuscenes/vad_nuscenes_infos_temporal_val.pkl',
        pipeline=[
            dict(type='LoadMultiViewImageFromFiles', to_float32=True),
            dict(
                type='LoadPointsFromFile',
                coord_type='LIDAR',
                load_dim=5,
                use_dim=5,
                file_client_args=dict(backend='disk')),
            dict(
                type='LoadAnnotations3D',
                with_bbox_3d=True,
                with_label_3d=True,
                with_attr_label=True),
            dict(
                type='CustomObjectRangeFilter',
                point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),
            dict(
                type='CustomObjectNameFilter',
                classes=[
                    'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
                    'barrier', 'motorcycle', 'bicycle', 'pedestrian',
                    'traffic_cone'
                ]),
            dict(
                type='NormalizeMultiviewImage',
                mean=[123.675, 116.28, 103.53],
                std=[58.395, 57.12, 57.375],
                to_rgb=True),
            dict(
                type='MultiScaleFlipAug3D',
                img_scale=(1600, 900),
                pts_scale_ratio=1,
                flip=False,
                transforms=[
                    dict(type='RandomScaleImageMultiViewImage', scales=[0.4]),
                    dict(type='PadMultiViewImage', size_divisor=32),
                    dict(
                        type='CustomDefaultFormatBundle3D',
                        class_names=[
                            'car', 'truck', 'construction_vehicle', 'bus',
                            'trailer', 'barrier', 'motorcycle', 'bicycle',
                            'pedestrian', 'traffic_cone'
                        ],
                        with_label=False,
                        with_ego=True),
                    dict(
                        type='CustomCollect3D',
                        keys=[
                            'points', 'gt_bboxes_3d', 'gt_labels_3d', 'img',
                            'fut_valid_flag', 'ego_his_trajs', 'ego_fut_trajs',
                            'ego_fut_masks', 'ego_fut_cmd', 'ego_lcf_feat',
                            'gt_attr_labels'
                        ])
                ])
        ],
        classes=[
            'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
            'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
        ],
        modality=dict(
            use_lidar=False,
            use_camera=True,
            use_radar=False,
            use_map=False,
            use_external=True),
        test_mode=True,
        box_type_3d='LiDAR',
        queue_length=4,
        interval_2frames=True,
        pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0],
        bev_size=(100, 100),
        samples_per_gpu=1,
        map_classes=['divider', 'ped_crossing', 'boundary'],
        map_ann_file='data/nuscenes/nuscenes_map_anns_val.json',
        map_fixed_ptsnum_per_line=20,
        map_eval_use_same_gt_sample_num_flag=True,
        use_pkl_result=True,
        custom_eval_version='vad_nusc_detection_cvpr_2019'),
    shuffler_sampler=dict(type='DistributedGroupSampler'),
    nonshuffler_sampler=dict(type='DistributedSampler'))
evaluation = dict(
    interval=1,
    pipeline=[
        dict(type='LoadMultiViewImageFromFiles', to_float32=True),
        dict(
            type='LoadPointsFromFile',
            coord_type='LIDAR',
            load_dim=5,
            use_dim=5,
            file_client_args=dict(backend='disk')),
        dict(
            type='LoadAnnotations3D',
            with_bbox_3d=True,
            with_label_3d=True,
            with_attr_label=True),
        dict(
            type='CustomObjectRangeFilter',
            point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]),
        dict(
            type='CustomObjectNameFilter',
            classes=[
                'car', 'truck', 'construction_vehicle', 'bus', 'trailer',
                'barrier', 'motorcycle', 'bicycle', 'pedestrian',
                'traffic_cone'
            ]),
        dict(
            type='NormalizeMultiviewImage',
            mean=[123.675, 116.28, 103.53],
            std=[58.395, 57.12, 57.375],
            to_rgb=True),
        dict(
            type='MultiScaleFlipAug3D',
            img_scale=(1600, 900),
            pts_scale_ratio=1,
            flip=False,
            transforms=[
                dict(type='RandomScaleImageMultiViewImage', scales=[0.4]),
                dict(type='PadMultiViewImage', size_divisor=32),
                dict(
                    type='CustomDefaultFormatBundle3D',
                    class_names=[
                        'car', 'truck', 'construction_vehicle', 'bus',
                        'trailer', 'barrier', 'motorcycle', 'bicycle',
                        'pedestrian', 'traffic_cone'
                    ],
                    with_label=False,
                    with_ego=True),
                dict(
                    type='CustomCollect3D',
                    keys=[
                        'points', 'gt_bboxes_3d', 'gt_labels_3d', 'img',
                        'fut_valid_flag', 'ego_his_trajs', 'ego_fut_trajs',
                        'ego_fut_masks', 'ego_fut_cmd', 'ego_lcf_feat',
                        'gt_attr_labels'
                    ])
            ])
    ],
    metric='bbox',
    map_metric='chamfer',
    jsonfile_prefix=
    'work_dirs/law/step_aware_actor_critic+rl_use_bc_0.005+diagonal_cov+min_std_0.2+compete_relative_scorer/eval/results'
)
checkpoint_config = dict(interval=1, max_keep_ckpts=24)
log_config = dict(
    interval=20,
    hooks=[dict(type='TextLoggerHook'),
           dict(type='TensorboardLoggerHook')])
dist_params = dict(backend='nccl')
log_level = 'INFO'
work_dir = 'work_dirs/law/step_aware_actor_critic+rl_use_bc_0.005+diagonal_cov+min_std_0.2+compete_relative_scorer'
load_from = None
resume_from = None
workflow = [('train', 1)]
plugin = True
plugin_dir = 'projects/mmdet3d_plugin/'
voxel_size = [0.15, 0.15, 4]
img_norm_cfg = dict(
    mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)
num_classes = 10
map_classes = ['divider', 'ped_crossing', 'boundary']
map_num_vec = 100
map_fixed_ptsnum_per_gt_line = 20
map_fixed_ptsnum_per_pred_line = 20
map_eval_use_same_gt_sample_num_flag = True
map_num_classes = 3
_dim_ = 256
_pos_dim_ = 128
_ffn_dim_ = 512
_num_levels_ = 1
bev_h_ = 100
bev_w_ = 100
queue_length = 4
total_epochs = 24
model = dict(
    type='LAW',
    use_grid_mask=True,
    video_test_mode=True,
    use_multi_view=True,
    use_swin=True,
    swin_input_channel=768,
    hidden_channel=256,
    img_backbone=dict(
        type='SwinTransformer3D',
        arch='tiny',
        pretrained=
        'https://download.openmmlab.com/mmaction/v1.0/recognition/swin/swin_tiny_patch4_window7_224.pth',
        pretrained2d=True,
        patch_size=(2, 4, 4),
        window_size=(8, 7, 7),
        mlp_ratio=4.0,
        qkv_bias=True,
        qk_scale=None,
        drop_rate=0.2,
        attn_drop_rate=0.0,
        drop_path_rate=0.1,
        patch_norm=True),
    pts_bbox_head=dict(
        type='WaypointHead_IL',
        num_proposals=6,
        num_views=6,
        hidden_channel=256,
        num_heads=8,
        dropout=0.1,
        use_wm=True,
        num_traj_modal=3),
    pts_bbox_head_rl=dict(
        type='WaypointHead_RL',
        num_proposals=6,
        num_views=6,
        hidden_channel=256,
        num_heads=8,
        dropout=0.1,
        use_wm=False,
        num_traj_modal=3,
        group_size=32,
        simple_gaussian=True,
        min_std_list=[0.2, 0.2, 0.2, 0.2, 0.2, 0.2],
        max_std_list=[5, 5, 5, 5, 5, 5],
        max_abs_rho=0.75,
        debug_std=True,
        use_critic=True,
        critic=dict(
            type='Critic',
            hidden_dim=256,
            num_heads=8,
            dropout=0.1,
            n_layer=2,
            gamma=0.5,
            ema_tau=0.9)),
    rl_actor_use_bc=True,
    rl_traj_gauss_nll_weight=0.005,
    eval_method='decouple')
optimizer = dict(
    type='AdamW',
    lr=5e-05,
    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=0.001)
runner = dict(type='EpochBasedRunner', max_epochs=24)
custom_hooks = [dict(type='CustomSetEpochInfoHook')]
gpu_ids = range(0, 8)

2025-09-24 00:23:14,351 - mmdet - INFO - Set random seed to 0, deterministic: True
Name of parameter - Initialization information

pts_bbox_head.view_query_feat - torch.Size([1, 6, 256, 6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_query_feat - torch.Size([1, 6, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.pc_range - torch.Size([6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.position_range - torch.Size([6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.coords_d - torch.Size([64]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.0.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.1.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.2.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.3.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.4.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._spatial_decoder.5.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.auto_regression_attention.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.auto_regression_attention.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.auto_regression_attention.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.auto_regression_attention.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.wp_attn.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head._wm_decoder.layers.1.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.action_aware_encoder.0.weight - torch.Size([256, 268]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.action_aware_encoder.0.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.action_aware_encoder.2.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.action_aware_encoder.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.action_aware_encoder.4.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.action_aware_encoder.4.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_head.0.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_head.0.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_head.2.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_head.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_head.4.weight - torch.Size([6, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.waypoint_head.4.bias - torch.Size([6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.position_encoder.0.weight - torch.Size([1024, 192]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.position_encoder.0.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.position_encoder.2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head.position_encoder.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

img_backbone.patch_embed.proj.weight - torch.Size([96, 3, 2, 4, 4]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.patch_embed.proj.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.patch_embed.norm.weight - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.patch_embed.norm.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.norm1.weight - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.norm1.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.attn.relative_position_bias_table - torch.Size([2535, 3]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.attn.qkv.weight - torch.Size([288, 96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.attn.qkv.bias - torch.Size([288]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.attn.proj.weight - torch.Size([96, 96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.attn.proj.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.norm2.weight - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.norm2.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.mlp.fc1.weight - torch.Size([384, 96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.mlp.fc1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.mlp.fc2.weight - torch.Size([96, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.0.mlp.fc2.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.norm1.weight - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.norm1.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.attn.relative_position_bias_table - torch.Size([2535, 3]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.attn.qkv.weight - torch.Size([288, 96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.attn.qkv.bias - torch.Size([288]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.attn.proj.weight - torch.Size([96, 96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.attn.proj.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.norm2.weight - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.norm2.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.mlp.fc1.weight - torch.Size([384, 96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.mlp.fc1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.mlp.fc2.weight - torch.Size([96, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.blocks.1.mlp.fc2.bias - torch.Size([96]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.downsample.reduction.weight - torch.Size([192, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.downsample.norm.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.0.downsample.norm.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.norm1.weight - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.norm1.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.attn.relative_position_bias_table - torch.Size([2535, 6]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.attn.qkv.weight - torch.Size([576, 192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.attn.qkv.bias - torch.Size([576]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.attn.proj.weight - torch.Size([192, 192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.attn.proj.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.norm2.weight - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.norm2.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.mlp.fc1.weight - torch.Size([768, 192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.mlp.fc1.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.mlp.fc2.weight - torch.Size([192, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.0.mlp.fc2.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.norm1.weight - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.norm1.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.attn.relative_position_bias_table - torch.Size([2535, 6]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.attn.qkv.weight - torch.Size([576, 192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.attn.qkv.bias - torch.Size([576]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.attn.proj.weight - torch.Size([192, 192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.attn.proj.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.norm2.weight - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.norm2.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.mlp.fc1.weight - torch.Size([768, 192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.mlp.fc1.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.mlp.fc2.weight - torch.Size([192, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.blocks.1.mlp.fc2.bias - torch.Size([192]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.downsample.reduction.weight - torch.Size([384, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.downsample.norm.weight - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.1.downsample.norm.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.norm1.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.norm1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.attn.relative_position_bias_table - torch.Size([2535, 12]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.attn.qkv.weight - torch.Size([1152, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.attn.qkv.bias - torch.Size([1152]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.attn.proj.weight - torch.Size([384, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.attn.proj.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.norm2.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.norm2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.mlp.fc1.weight - torch.Size([1536, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.mlp.fc1.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.mlp.fc2.weight - torch.Size([384, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.0.mlp.fc2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.norm1.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.norm1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.attn.relative_position_bias_table - torch.Size([2535, 12]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.attn.qkv.weight - torch.Size([1152, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.attn.qkv.bias - torch.Size([1152]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.attn.proj.weight - torch.Size([384, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.attn.proj.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.norm2.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.norm2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.mlp.fc1.weight - torch.Size([1536, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.mlp.fc1.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.mlp.fc2.weight - torch.Size([384, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.1.mlp.fc2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.norm1.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.norm1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.attn.relative_position_bias_table - torch.Size([2535, 12]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.attn.qkv.weight - torch.Size([1152, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.attn.qkv.bias - torch.Size([1152]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.attn.proj.weight - torch.Size([384, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.attn.proj.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.norm2.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.norm2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.mlp.fc1.weight - torch.Size([1536, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.mlp.fc1.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.mlp.fc2.weight - torch.Size([384, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.2.mlp.fc2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.norm1.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.norm1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.attn.relative_position_bias_table - torch.Size([2535, 12]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.attn.qkv.weight - torch.Size([1152, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.attn.qkv.bias - torch.Size([1152]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.attn.proj.weight - torch.Size([384, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.attn.proj.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.norm2.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.norm2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.mlp.fc1.weight - torch.Size([1536, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.mlp.fc1.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.mlp.fc2.weight - torch.Size([384, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.3.mlp.fc2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.norm1.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.norm1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.attn.relative_position_bias_table - torch.Size([2535, 12]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.attn.qkv.weight - torch.Size([1152, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.attn.qkv.bias - torch.Size([1152]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.attn.proj.weight - torch.Size([384, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.attn.proj.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.norm2.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.norm2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.mlp.fc1.weight - torch.Size([1536, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.mlp.fc1.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.mlp.fc2.weight - torch.Size([384, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.4.mlp.fc2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.norm1.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.norm1.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.attn.relative_position_bias_table - torch.Size([2535, 12]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.attn.qkv.weight - torch.Size([1152, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.attn.qkv.bias - torch.Size([1152]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.attn.proj.weight - torch.Size([384, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.attn.proj.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.norm2.weight - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.norm2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.mlp.fc1.weight - torch.Size([1536, 384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.mlp.fc1.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.mlp.fc2.weight - torch.Size([384, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.blocks.5.mlp.fc2.bias - torch.Size([384]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.downsample.reduction.weight - torch.Size([768, 1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.downsample.norm.weight - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.2.downsample.norm.bias - torch.Size([1536]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.norm1.weight - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.norm1.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.attn.relative_position_bias_table - torch.Size([2535, 24]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.attn.qkv.weight - torch.Size([2304, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.attn.qkv.bias - torch.Size([2304]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.attn.proj.weight - torch.Size([768, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.attn.proj.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.norm2.weight - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.norm2.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.mlp.fc1.weight - torch.Size([3072, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.mlp.fc1.bias - torch.Size([3072]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.mlp.fc2.weight - torch.Size([768, 3072]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.0.mlp.fc2.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.norm1.weight - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.norm1.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.attn.relative_position_bias_table - torch.Size([2535, 24]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.attn.qkv.weight - torch.Size([2304, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.attn.qkv.bias - torch.Size([2304]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.attn.proj.weight - torch.Size([768, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.attn.proj.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.norm2.weight - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.norm2.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.mlp.fc1.weight - torch.Size([3072, 768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.mlp.fc1.bias - torch.Size([3072]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.mlp.fc2.weight - torch.Size([768, 3072]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.layers.3.blocks.1.mlp.fc2.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.norm3.weight - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

img_backbone.norm3.bias - torch.Size([768]): 
Initialized by user-defined `init_weights` in SwinTransformer3D  

swin_img_mlp.weight - torch.Size([256, 768]): 
The value is the same before and after calling `init_weights` of LAW  

swin_img_mlp.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.view_query_feat - torch.Size([1, 6, 256, 6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_query_feat - torch.Size([1, 6, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.pc_range - torch.Size([6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.position_range - torch.Size([6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.coords_d - torch.Size([64]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.0.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.1.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.2.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.3.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.4.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl._spatial_decoder.5.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.auto_regression_attention.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.auto_regression_attention.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.auto_regression_attention.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.auto_regression_attention.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.wp_attn.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_head.0.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_head.0.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_head.2.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_head.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_head.4.weight - torch.Size([6, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_head.4.bias - torch.Size([6]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_cov_head.0.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_cov_head.0.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_cov_head.2.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_cov_head.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_cov_head.4.weight - torch.Size([3, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.waypoint_cov_head.4.bias - torch.Size([3]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.position_encoder.0.weight - torch.Size([1024, 192]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.position_encoder.0.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.position_encoder.2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.position_encoder.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_query - torch.Size([1, 1, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_decoder.layers.1.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_head.0.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_head.0.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_head.2.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_head.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_head.4.weight - torch.Size([1, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.critic.value_head.4.bias - torch.Size([1]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_query - torch.Size([1, 1, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.0.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.self_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.self_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.self_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.self_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.multihead_attn.in_proj_weight - torch.Size([768, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.multihead_attn.in_proj_bias - torch.Size([768]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.multihead_attn.out_proj.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.multihead_attn.out_proj.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.linear1.weight - torch.Size([1024, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.linear1.bias - torch.Size([1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.linear2.weight - torch.Size([256, 1024]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.linear2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.norm1.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.norm1.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.norm2.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.norm2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.norm3.weight - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_decoder.layers.1.norm3.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_head.0.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_head.0.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_head.2.weight - torch.Size([256, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_head.2.bias - torch.Size([256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_head.4.weight - torch.Size([1, 256]): 
The value is the same before and after calling `init_weights` of LAW  

pts_bbox_head_rl.refer_critic.value_head.4.bias - torch.Size([1]): 
The value is the same before and after calling `init_weights` of LAW  
2025-09-24 00:23:20,404 - mmdet - INFO - Model:
LAW(
  (pts_bbox_head): WaypointHead_IL(
    (_spatial_decoder): ModuleList(
      (0): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (1): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (2): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (3): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (4): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (5): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
    )
    (auto_regression_attention): MultiheadAttention(
      (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
    )
    (wp_attn): TransformerDecoder(
      (layers): ModuleList(
        (0): TransformerDecoderLayer(
          (self_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (multihead_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (linear1): Linear(in_features=256, out_features=1024, bias=True)
          (dropout): Dropout(p=0.1, inplace=False)
          (linear2): Linear(in_features=1024, out_features=256, bias=True)
          (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (dropout1): Dropout(p=0.1, inplace=False)
          (dropout2): Dropout(p=0.1, inplace=False)
          (dropout3): Dropout(p=0.1, inplace=False)
        )
      )
    )
    (_wm_decoder): TransformerDecoder(
      (layers): ModuleList(
        (0): TransformerDecoderLayer(
          (self_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (multihead_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (linear1): Linear(in_features=256, out_features=1024, bias=True)
          (dropout): Dropout(p=0.1, inplace=False)
          (linear2): Linear(in_features=1024, out_features=256, bias=True)
          (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (dropout1): Dropout(p=0.1, inplace=False)
          (dropout2): Dropout(p=0.1, inplace=False)
          (dropout3): Dropout(p=0.1, inplace=False)
        )
        (1): TransformerDecoderLayer(
          (self_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (multihead_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (linear1): Linear(in_features=256, out_features=1024, bias=True)
          (dropout): Dropout(p=0.1, inplace=False)
          (linear2): Linear(in_features=1024, out_features=256, bias=True)
          (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (dropout1): Dropout(p=0.1, inplace=False)
          (dropout2): Dropout(p=0.1, inplace=False)
          (dropout3): Dropout(p=0.1, inplace=False)
        )
      )
    )
    (action_aware_encoder): Sequential(
      (0): Linear(in_features=268, out_features=256, bias=True)
      (1): ReLU(inplace=True)
      (2): Linear(in_features=256, out_features=256, bias=True)
      (3): ReLU(inplace=True)
      (4): Linear(in_features=256, out_features=256, bias=True)
    )
    (loss_plan_reg): L1Loss()
    (loss_plan_rec): MSELoss()
    (waypoint_head): Sequential(
      (0): Linear(in_features=256, out_features=256, bias=True)
      (1): ReLU(inplace=True)
      (2): Linear(in_features=256, out_features=256, bias=True)
      (3): ReLU(inplace=True)
      (4): Linear(in_features=256, out_features=6, bias=True)
    )
    (position_encoder): Sequential(
      (0): Linear(in_features=192, out_features=1024, bias=True)
      (1): ReLU()
      (2): Linear(in_features=1024, out_features=256, bias=True)
    )
  )
  (img_backbone): SwinTransformer3D(
    (patch_embed): PatchEmbed3D(
      (proj): Conv3d(3, 96, kernel_size=(2, 4, 4), stride=(2, 4, 4))
      (norm): LayerNorm((96,), eps=1e-05, elementwise_affine=True)
    )
    (pos_drop): Dropout(p=0.2, inplace=False)
    (layers): ModuleList(
      (0): BasicLayer(
        (blocks): ModuleList(
          (0): SwinTransformerBlock3D(
            (norm1): LayerNorm((96,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=96, out_features=288, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=96, out_features=96, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): Identity()
            (norm2): LayerNorm((96,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=96, out_features=384, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=384, out_features=96, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (1): SwinTransformerBlock3D(
            (norm1): LayerNorm((96,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=96, out_features=288, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=96, out_features=96, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((96,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=96, out_features=384, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=384, out_features=96, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
        )
        (downsample): PatchMerging(
          (reduction): Linear(in_features=384, out_features=192, bias=False)
          (norm): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
        )
      )
      (1): BasicLayer(
        (blocks): ModuleList(
          (0): SwinTransformerBlock3D(
            (norm1): LayerNorm((192,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=192, out_features=576, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=192, out_features=192, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((192,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=192, out_features=768, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=768, out_features=192, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (1): SwinTransformerBlock3D(
            (norm1): LayerNorm((192,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=192, out_features=576, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=192, out_features=192, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((192,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=192, out_features=768, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=768, out_features=192, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
        )
        (downsample): PatchMerging(
          (reduction): Linear(in_features=768, out_features=384, bias=False)
          (norm): LayerNorm((768,), eps=1e-05, elementwise_affine=True)
        )
      )
      (2): BasicLayer(
        (blocks): ModuleList(
          (0): SwinTransformerBlock3D(
            (norm1): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=384, out_features=1152, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=384, out_features=384, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=384, out_features=1536, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=1536, out_features=384, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (1): SwinTransformerBlock3D(
            (norm1): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=384, out_features=1152, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=384, out_features=384, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=384, out_features=1536, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=1536, out_features=384, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (2): SwinTransformerBlock3D(
            (norm1): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=384, out_features=1152, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=384, out_features=384, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=384, out_features=1536, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=1536, out_features=384, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (3): SwinTransformerBlock3D(
            (norm1): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=384, out_features=1152, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=384, out_features=384, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=384, out_features=1536, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=1536, out_features=384, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (4): SwinTransformerBlock3D(
            (norm1): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=384, out_features=1152, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=384, out_features=384, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=384, out_features=1536, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=1536, out_features=384, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (5): SwinTransformerBlock3D(
            (norm1): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=384, out_features=1152, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=384, out_features=384, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((384,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=384, out_features=1536, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=1536, out_features=384, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
        )
        (downsample): PatchMerging(
          (reduction): Linear(in_features=1536, out_features=768, bias=False)
          (norm): LayerNorm((1536,), eps=1e-05, elementwise_affine=True)
        )
      )
      (3): BasicLayer(
        (blocks): ModuleList(
          (0): SwinTransformerBlock3D(
            (norm1): LayerNorm((768,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=768, out_features=2304, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=768, out_features=768, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((768,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=768, out_features=3072, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=3072, out_features=768, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
          (1): SwinTransformerBlock3D(
            (norm1): LayerNorm((768,), eps=1e-05, elementwise_affine=True)
            (attn): WindowAttention3D(
              (qkv): Linear(in_features=768, out_features=2304, bias=True)
              (attn_drop): Dropout(p=0.0, inplace=False)
              (proj): Linear(in_features=768, out_features=768, bias=True)
              (proj_drop): Dropout(p=0.2, inplace=False)
              (softmax): Softmax(dim=-1)
            )
            (drop_path): DropPath()
            (norm2): LayerNorm((768,), eps=1e-05, elementwise_affine=True)
            (mlp): Mlp(
              (fc1): Linear(in_features=768, out_features=3072, bias=True)
              (act): GELU()
              (fc2): Linear(in_features=3072, out_features=768, bias=True)
              (drop): Dropout(p=0.2, inplace=False)
            )
          )
        )
      )
    )
    (norm3): LayerNorm((768,), eps=1e-05, elementwise_affine=True)
  )
  init_cfg=[{'type': 'TruncNormal', 'layer': 'Linear', 'std': 0.02, 'bias': 0.0}, {'type': 'Constant', 'layer': 'LayerNorm', 'val': 1.0, 'bias': 0.0}]
  (grid_mask): GridMask()
  (swin_img_mlp): Linear(in_features=768, out_features=256, bias=True)
  (pts_bbox_head_rl): WaypointHead_RL(
    (_spatial_decoder): ModuleList(
      (0): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (1): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (2): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (3): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (4): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (5): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
    )
    (auto_regression_attention): MultiheadAttention(
      (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
    )
    (wp_attn): TransformerDecoder(
      (layers): ModuleList(
        (0): TransformerDecoderLayer(
          (self_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (multihead_attn): MultiheadAttention(
            (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
          )
          (linear1): Linear(in_features=256, out_features=1024, bias=True)
          (dropout): Dropout(p=0.1, inplace=False)
          (linear2): Linear(in_features=1024, out_features=256, bias=True)
          (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
          (dropout1): Dropout(p=0.1, inplace=False)
          (dropout2): Dropout(p=0.1, inplace=False)
          (dropout3): Dropout(p=0.1, inplace=False)
        )
      )
    )
    (waypoint_head): Sequential(
      (0): Linear(in_features=256, out_features=256, bias=True)
      (1): ReLU(inplace=True)
      (2): Linear(in_features=256, out_features=256, bias=True)
      (3): ReLU(inplace=True)
      (4): Linear(in_features=256, out_features=6, bias=True)
    )
    (waypoint_cov_head): Sequential(
      (0): Linear(in_features=256, out_features=256, bias=True)
      (1): ReLU(inplace=True)
      (2): Linear(in_features=256, out_features=256, bias=True)
      (3): ReLU(inplace=True)
      (4): Linear(in_features=256, out_features=3, bias=True)
    )
    (position_encoder): Sequential(
      (0): Linear(in_features=192, out_features=1024, bias=True)
      (1): ReLU()
      (2): Linear(in_features=1024, out_features=256, bias=True)
    )
    (drivable_area_compliance_op): DrivableAreaConstrain()
    (imitation_scorer): ImitationConstrain()
    (collision_scorer): CollsionConstrain_RL()
    (critic): Critic(
      (value_decoder): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
          (1): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (value_head): Sequential(
        (0): Linear(in_features=256, out_features=256, bias=True)
        (1): ReLU(inplace=True)
        (2): Linear(in_features=256, out_features=256, bias=True)
        (3): ReLU(inplace=True)
        (4): Linear(in_features=256, out_features=1, bias=True)
      )
      (mse_loss): MSELoss()
    )
    (refer_critic): Critic(
      (value_decoder): TransformerDecoder(
        (layers): ModuleList(
          (0): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
          (1): TransformerDecoderLayer(
            (self_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (multihead_attn): MultiheadAttention(
              (out_proj): NonDynamicallyQuantizableLinear(in_features=256, out_features=256, bias=True)
            )
            (linear1): Linear(in_features=256, out_features=1024, bias=True)
            (dropout): Dropout(p=0.1, inplace=False)
            (linear2): Linear(in_features=1024, out_features=256, bias=True)
            (norm1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm2): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (norm3): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
            (dropout1): Dropout(p=0.1, inplace=False)
            (dropout2): Dropout(p=0.1, inplace=False)
            (dropout3): Dropout(p=0.1, inplace=False)
          )
        )
      )
      (value_head): Sequential(
        (0): Linear(in_features=256, out_features=256, bias=True)
        (1): ReLU(inplace=True)
        (2): Linear(in_features=256, out_features=256, bias=True)
        (3): ReLU(inplace=True)
        (4): Linear(in_features=256, out_features=1, bias=True)
      )
      (mse_loss): MSELoss()
    )
  )
)
2025-09-24 00:23:37,536 - mmdet - INFO - Start running, host: zhengxj@node045, work_dir: /opt/nvme0/zhengxj/projects/LAW-RL/work_dirs/law/step_aware_actor_critic+rl_use_bc_0.005+diagonal_cov+min_std_0.2+compete_relative_scorer
2025-09-24 00:23:37,537 - mmdet - INFO - Hooks will be executed in the following order:
before_run:
(VERY_HIGH   ) CosineAnnealingLrUpdaterHook       
(NORMAL      ) CheckpointHook                     
(NORMAL      ) CustomDistEvalHook                 
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_train_epoch:
(VERY_HIGH   ) CosineAnnealingLrUpdaterHook       
(NORMAL      ) DistSamplerSeedHook                
(NORMAL      ) CustomDistEvalHook                 
(NORMAL      ) CustomSetEpochInfoHook             
(LOW         ) IterTimerHook                      
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_train_iter:
(VERY_HIGH   ) CosineAnnealingLrUpdaterHook       
(NORMAL      ) CustomDistEvalHook                 
(LOW         ) IterTimerHook                      
 -------------------- 
after_train_iter:
(ABOVE_NORMAL) OptimizerHook                      
(NORMAL      ) CheckpointHook                     
(NORMAL      ) CustomDistEvalHook                 
(LOW         ) IterTimerHook                      
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
after_train_epoch:
(NORMAL      ) CheckpointHook                     
(NORMAL      ) CustomDistEvalHook                 
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_val_epoch:
(NORMAL      ) DistSamplerSeedHook                
(LOW         ) IterTimerHook                      
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_val_iter:
(LOW         ) IterTimerHook                      
 -------------------- 
after_val_iter:
(LOW         ) IterTimerHook                      
 -------------------- 
after_val_epoch:
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
after_run:
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
2025-09-24 00:23:37,537 - mmdet - INFO - workflow: [('train', 1)], max: 24 epochs
2025-09-24 00:23:37,537 - mmdet - INFO - Checkpoints will be saved to /opt/nvme0/zhengxj/projects/LAW-RL/work_dirs/law/step_aware_actor_critic+rl_use_bc_0.005+diagonal_cov+min_std_0.2+compete_relative_scorer by HardDiskBackend.
2025-09-24 00:24:02,328 - mmdet - INFO - Epoch [1][20/3517]	lr: 1.793e-05, eta: 1 day, 4:59:06, time: 1.237, data_time: 0.282, memory: 8550, loss_rec: 0.3639, loss_waypoint: 1.2677, debug_std_frame_0: 0.7477, debug_std_frame_1: 0.7533, debug_std_frame_2: 0.7475, debug_std_frame_3: 0.7514, debug_std_frame_4: 0.7489, debug_std_frame_5: 0.7403, loss_rl: -0.0542, loss_critic: 1.7241, loss_rl_bc: 0.2912, il_score: 0.1996, rl_score: 0.1874, prev_frame_loss_waypoint_0: 1.3555, prev_frame_loss_rl_bc_0: 0.3112, loss: 5.2594, grad_norm: 6.5073
2025-09-24 00:24:18,642 - mmdet - INFO - Epoch [1][40/3517]	lr: 1.927e-05, eta: 1 day, 0:02:45, time: 0.816, data_time: 0.016, memory: 8550, loss_rec: 0.2971, loss_waypoint: 1.1182, debug_std_frame_0: 0.8443, debug_std_frame_1: 0.8520, debug_std_frame_2: 0.8516, debug_std_frame_3: 0.8614, debug_std_frame_4: 0.8667, debug_std_frame_5: 0.8603, loss_rl: -0.0384, loss_critic: 1.1060, loss_rl_bc: 0.2213, il_score: 0.1976, rl_score: 0.2011, prev_frame_loss_waypoint_0: 1.2246, prev_frame_loss_rl_bc_0: 0.2367, loss: 4.1656, grad_norm: 4.1478
2025-09-24 00:24:35,076 - mmdet - INFO - Epoch [1][60/3517]	lr: 2.060e-05, eta: 22:26:41, time: 0.822, data_time: 0.015, memory: 8550, loss_rec: 0.2140, loss_waypoint: 1.0207, debug_std_frame_0: 1.0035, debug_std_frame_1: 1.0111, debug_std_frame_2: 1.0192, debug_std_frame_3: 1.0290, debug_std_frame_4: 1.0412, debug_std_frame_5: 1.0335, loss_rl: -0.0916, loss_critic: 1.0270, loss_rl_bc: 0.1649, il_score: 0.1953, rl_score: 0.2297, prev_frame_loss_waypoint_0: 1.1207, prev_frame_loss_rl_bc_0: 0.1877, loss: 3.6434, grad_norm: 4.6118
2025-09-24 00:24:51,641 - mmdet - INFO - Epoch [1][80/3517]	lr: 2.193e-05, eta: 21:40:46, time: 0.828, data_time: 0.015, memory: 8550, loss_rec: 0.1391, loss_waypoint: 0.9652, debug_std_frame_0: 1.1778, debug_std_frame_1: 1.1871, debug_std_frame_2: 1.1983, debug_std_frame_3: 1.2083, debug_std_frame_4: 1.2194, debug_std_frame_5: 1.2141, loss_rl: -0.0567, loss_critic: 0.5644, loss_rl_bc: 0.1483, il_score: 0.1979, rl_score: 0.2212, prev_frame_loss_waypoint_0: 1.0184, prev_frame_loss_rl_bc_0: 0.1572, loss: 2.9360, grad_norm: 4.2204
2025-09-24 00:25:08,710 - mmdet - INFO - Epoch [1][100/3517]	lr: 2.327e-05, eta: 21:20:14, time: 0.853, data_time: 0.015, memory: 8550, loss_rec: 0.0987, loss_waypoint: 0.8872, debug_std_frame_0: 1.3582, debug_std_frame_1: 1.3702, debug_std_frame_2: 1.3840, debug_std_frame_3: 1.3986, debug_std_frame_4: 1.4118, debug_std_frame_5: 1.4025, loss_rl: -0.0702, loss_critic: 0.6782, loss_rl_bc: 0.1312, il_score: 0.1984, rl_score: 0.2376, prev_frame_loss_waypoint_0: 0.9469, prev_frame_loss_rl_bc_0: 0.1413, loss: 2.8131, grad_norm: 4.6889, il_score_sum: 19.7768, rl_score_sum: 21.5430, score_diff: -1.7662, il_win: 0.0000, rl_win: 1.0000
2025-09-24 00:25:24,811 - mmdet - INFO - Epoch [1][120/3517]	lr: 2.460e-05, eta: 20:55:05, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.2624, loss_waypoint: 1.2394, debug_std_frame_0: 1.4083, debug_std_frame_1: 1.4205, debug_std_frame_2: 1.4339, debug_std_frame_3: 1.4497, debug_std_frame_4: 1.4566, debug_std_frame_5: 1.4469, loss_rl: 0.0071, loss_critic: 0.4286, loss_rl_bc: 0.1277, il_score: 0.1968, rl_score: 0.1813, prev_frame_loss_waypoint_0: 1.3090, prev_frame_loss_rl_bc_0: 0.1289, loss: 3.5031, grad_norm: 3.3565, il_score_sum: 19.7768, rl_score_sum: 21.5430, score_diff: -1.7662, il_win: 0.0000, rl_win: 1.0000
2025-09-24 00:25:41,043 - mmdet - INFO - Epoch [1][140/3517]	lr: 2.593e-05, eta: 20:38:21, time: 0.812, data_time: 0.015, memory: 8550, loss_rec: 0.1823, loss_waypoint: 1.0674, debug_std_frame_0: 1.4823, debug_std_frame_1: 1.4944, debug_std_frame_2: 1.5089, debug_std_frame_3: 1.5240, debug_std_frame_4: 1.5330, debug_std_frame_5: 1.5197, loss_rl: 0.0257, loss_critic: 0.2385, loss_rl_bc: 0.1110, il_score: 0.2512, rl_score: 0.1506, prev_frame_loss_waypoint_0: 1.1631, prev_frame_loss_rl_bc_0: 0.1283, loss: 2.9164, grad_norm: 2.1841, il_score_sum: 19.7768, rl_score_sum: 21.5430, score_diff: -1.7662, il_win: 0.0000, rl_win: 1.0000
2025-09-24 00:25:57,171 - mmdet - INFO - Epoch [1][160/3517]	lr: 2.727e-05, eta: 20:24:48, time: 0.806, data_time: 0.014, memory: 8550, loss_rec: 0.1348, loss_waypoint: 1.1079, debug_std_frame_0: 1.4719, debug_std_frame_1: 1.4842, debug_std_frame_2: 1.4991, debug_std_frame_3: 1.5145, debug_std_frame_4: 1.5202, debug_std_frame_5: 1.5113, loss_rl: -0.0262, loss_critic: 0.4226, loss_rl_bc: 0.1075, il_score: 0.2174, rl_score: 0.2004, prev_frame_loss_waypoint_0: 1.1221, prev_frame_loss_rl_bc_0: 0.1118, loss: 2.9804, grad_norm: 3.3535, il_score_sum: 19.7768, rl_score_sum: 21.5430, score_diff: -1.7662, il_win: 0.0000, rl_win: 1.0000
2025-09-24 00:26:13,458 - mmdet - INFO - Epoch [1][180/3517]	lr: 2.860e-05, eta: 20:15:30, time: 0.815, data_time: 0.015, memory: 8550, loss_rec: 0.1011, loss_waypoint: 0.9446, debug_std_frame_0: 1.4422, debug_std_frame_1: 1.4533, debug_std_frame_2: 1.4681, debug_std_frame_3: 1.4797, debug_std_frame_4: 1.4858, debug_std_frame_5: 1.4751, loss_rl: 0.0051, loss_critic: 0.4914, loss_rl_bc: 0.0977, il_score: 0.1896, rl_score: 0.2164, prev_frame_loss_waypoint_0: 1.0246, prev_frame_loss_rl_bc_0: 0.1039, loss: 2.7685, grad_norm: 4.3407, il_score_sum: 19.7768, rl_score_sum: 21.5430, score_diff: -1.7662, il_win: 0.0000, rl_win: 1.0000
2025-09-24 00:26:29,872 - mmdet - INFO - Epoch [1][200/3517]	lr: 2.993e-05, eta: 20:08:52, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0816, loss_waypoint: 0.8499, debug_std_frame_0: 1.3819, debug_std_frame_1: 1.3920, debug_std_frame_2: 1.4026, debug_std_frame_3: 1.4124, debug_std_frame_4: 1.4176, debug_std_frame_5: 1.4071, loss_rl: -0.0196, loss_critic: 0.6055, loss_rl_bc: 0.0948, il_score: 0.2204, rl_score: 0.2582, prev_frame_loss_waypoint_0: 0.9098, prev_frame_loss_rl_bc_0: 0.1013, loss: 2.6231, grad_norm: 6.4002, il_score_sum: 20.6427, rl_score_sum: 20.8393, score_diff: -0.1967, il_win: 0.5000, rl_win: 1.0000
2025-09-24 00:26:45,464 - mmdet - INFO - Epoch [1][220/3517]	lr: 3.127e-05, eta: 19:58:09, time: 0.780, data_time: 0.014, memory: 8550, loss_rec: 0.0781, loss_waypoint: 0.7720, debug_std_frame_0: 1.2787, debug_std_frame_1: 1.2884, debug_std_frame_2: 1.3085, debug_std_frame_3: 1.3208, debug_std_frame_4: 1.3282, debug_std_frame_5: 1.3195, loss_rl: 0.0177, loss_critic: 0.3940, loss_rl_bc: 0.1164, il_score: 0.2743, rl_score: 0.2044, prev_frame_loss_waypoint_0: 0.8324, prev_frame_loss_rl_bc_0: 0.1270, loss: 2.3375, grad_norm: 7.0216, il_score_sum: 20.6427, rl_score_sum: 20.8393, score_diff: -0.1967, il_win: 0.5000, rl_win: 1.0000
2025-09-24 00:27:01,943 - mmdet - INFO - Epoch [1][240/3517]	lr: 3.260e-05, eta: 19:54:18, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0783, loss_waypoint: 0.9230, debug_std_frame_0: 1.6204, debug_std_frame_1: 1.6345, debug_std_frame_2: 1.6554, debug_std_frame_3: 1.6718, debug_std_frame_4: 1.6817, debug_std_frame_5: 1.6767, loss_rl: -0.0062, loss_critic: 0.3522, loss_rl_bc: 0.1147, il_score: 0.2304, rl_score: 0.1843, prev_frame_loss_waypoint_0: 0.9549, prev_frame_loss_rl_bc_0: 0.1196, loss: 2.5365, grad_norm: 7.4269, il_score_sum: 20.6427, rl_score_sum: 20.8393, score_diff: -0.1967, il_win: 0.5000, rl_win: 1.0000
2025-09-24 00:27:18,269 - mmdet - INFO - Epoch [1][260/3517]	lr: 3.393e-05, eta: 19:50:14, time: 0.816, data_time: 0.015, memory: 8550, loss_rec: 0.0796, loss_waypoint: 0.7196, debug_std_frame_0: 1.5694, debug_std_frame_1: 1.5830, debug_std_frame_2: 1.5989, debug_std_frame_3: 1.6122, debug_std_frame_4: 1.6212, debug_std_frame_5: 1.6190, loss_rl: -0.0338, loss_critic: 0.6721, loss_rl_bc: 0.0936, il_score: 0.2667, rl_score: 0.2516, prev_frame_loss_waypoint_0: 0.7824, prev_frame_loss_rl_bc_0: 0.1011, loss: 2.4146, grad_norm: 7.0455, il_score_sum: 20.6427, rl_score_sum: 20.8393, score_diff: -0.1967, il_win: 0.5000, rl_win: 1.0000
2025-09-24 00:27:34,517 - mmdet - INFO - Epoch [1][280/3517]	lr: 3.527e-05, eta: 19:46:22, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0673, loss_waypoint: 0.7902, debug_std_frame_0: 1.3936, debug_std_frame_1: 1.4056, debug_std_frame_2: 1.4146, debug_std_frame_3: 1.4224, debug_std_frame_4: 1.4255, debug_std_frame_5: 1.4211, loss_rl: -0.0472, loss_critic: 0.4279, loss_rl_bc: 0.0947, il_score: 0.2285, rl_score: 0.2312, prev_frame_loss_waypoint_0: 0.8672, prev_frame_loss_rl_bc_0: 0.1031, loss: 2.3031, grad_norm: 6.2486, il_score_sum: 20.6427, rl_score_sum: 20.8393, score_diff: -0.1967, il_win: 0.5000, rl_win: 1.0000
2025-09-24 00:27:50,993 - mmdet - INFO - Epoch [1][300/3517]	lr: 3.660e-05, eta: 19:43:58, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0648, loss_waypoint: 0.7301, debug_std_frame_0: 1.3032, debug_std_frame_1: 1.3141, debug_std_frame_2: 1.3223, debug_std_frame_3: 1.3301, debug_std_frame_4: 1.3339, debug_std_frame_5: 1.3327, loss_rl: -0.0438, loss_critic: 0.6126, loss_rl_bc: 0.0920, il_score: 0.2488, rl_score: 0.2460, prev_frame_loss_waypoint_0: 0.7826, prev_frame_loss_rl_bc_0: 0.0997, loss: 2.3380, grad_norm: 7.3486, il_score_sum: 22.0867, rl_score_sum: 21.3428, score_diff: 0.7439, il_win: 1.0000, rl_win: 1.0000
2025-09-24 00:28:06,961 - mmdet - INFO - Epoch [1][320/3517]	lr: 3.793e-05, eta: 19:39:38, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0515, loss_waypoint: 0.8203, debug_std_frame_0: 1.3933, debug_std_frame_1: 1.4026, debug_std_frame_2: 1.4225, debug_std_frame_3: 1.4390, debug_std_frame_4: 1.4489, debug_std_frame_5: 1.4428, loss_rl: -0.0349, loss_critic: 0.6240, loss_rl_bc: 0.1195, il_score: 0.2307, rl_score: 0.2042, prev_frame_loss_waypoint_0: 0.8614, prev_frame_loss_rl_bc_0: 0.1246, loss: 2.5664, grad_norm: 6.8901, il_score_sum: 22.0867, rl_score_sum: 21.3428, score_diff: 0.7439, il_win: 1.0000, rl_win: 1.0000
2025-09-24 00:28:22,917 - mmdet - INFO - Epoch [1][340/3517]	lr: 3.927e-05, eta: 19:35:45, time: 0.798, data_time: 0.015, memory: 8550, loss_rec: 0.0429, loss_waypoint: 0.7042, debug_std_frame_0: 1.7390, debug_std_frame_1: 1.7566, debug_std_frame_2: 1.7739, debug_std_frame_3: 1.7922, debug_std_frame_4: 1.8030, debug_std_frame_5: 1.7955, loss_rl: -0.0768, loss_critic: 0.5290, loss_rl_bc: 0.0955, il_score: 0.2725, rl_score: 0.2516, prev_frame_loss_waypoint_0: 0.7524, prev_frame_loss_rl_bc_0: 0.1021, loss: 2.1493, grad_norm: 7.1384, il_score_sum: 22.0867, rl_score_sum: 21.3428, score_diff: 0.7439, il_win: 1.0000, rl_win: 1.0000
2025-09-24 00:28:38,959 - mmdet - INFO - Epoch [1][360/3517]	lr: 4.060e-05, eta: 19:32:34, time: 0.802, data_time: 0.014, memory: 8550, loss_rec: 0.0374, loss_waypoint: 0.7269, debug_std_frame_0: 1.4598, debug_std_frame_1: 1.4738, debug_std_frame_2: 1.4831, debug_std_frame_3: 1.4941, debug_std_frame_4: 1.4983, debug_std_frame_5: 1.4924, loss_rl: -0.0865, loss_critic: 0.8252, loss_rl_bc: 0.0943, il_score: 0.2503, rl_score: 0.2810, prev_frame_loss_waypoint_0: 0.7635, prev_frame_loss_rl_bc_0: 0.1007, loss: 2.4615, grad_norm: 6.9315, il_score_sum: 22.0867, rl_score_sum: 21.3428, score_diff: 0.7439, il_win: 1.0000, rl_win: 1.0000
2025-09-24 00:28:55,025 - mmdet - INFO - Epoch [1][380/3517]	lr: 4.193e-05, eta: 19:29:49, time: 0.803, data_time: 0.015, memory: 8550, loss_rec: 0.0325, loss_waypoint: 0.6790, debug_std_frame_0: 1.3077, debug_std_frame_1: 1.3197, debug_std_frame_2: 1.3264, debug_std_frame_3: 1.3330, debug_std_frame_4: 1.3365, debug_std_frame_5: 1.3303, loss_rl: -0.0437, loss_critic: 0.7125, loss_rl_bc: 0.0898, il_score: 0.3031, rl_score: 0.2875, prev_frame_loss_waypoint_0: 0.7153, prev_frame_loss_rl_bc_0: 0.0944, loss: 2.2796, grad_norm: 9.2377, il_score_sum: 22.0867, rl_score_sum: 21.3428, score_diff: 0.7439, il_win: 1.0000, rl_win: 1.0000
2025-09-24 00:29:11,352 - mmdet - INFO - Epoch [1][400/3517]	lr: 4.327e-05, eta: 19:28:12, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.7977, debug_std_frame_0: 1.2932, debug_std_frame_1: 1.3039, debug_std_frame_2: 1.3101, debug_std_frame_3: 1.3163, debug_std_frame_4: 1.3184, debug_std_frame_5: 1.3152, loss_rl: -0.0423, loss_critic: 0.6740, loss_rl_bc: 0.0990, il_score: 0.2712, rl_score: 0.2653, prev_frame_loss_waypoint_0: 0.8583, prev_frame_loss_rl_bc_0: 0.1055, loss: 2.5200, grad_norm: 8.7800, il_score_sum: 23.2036, rl_score_sum: 22.4557, score_diff: 0.7479, il_win: 1.2500, rl_win: 1.0000
2025-09-24 00:29:27,238 - mmdet - INFO - Epoch [1][420/3517]	lr: 4.460e-05, eta: 19:25:16, time: 0.794, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.7311, debug_std_frame_0: 1.3372, debug_std_frame_1: 1.3485, debug_std_frame_2: 1.3527, debug_std_frame_3: 1.3592, debug_std_frame_4: 1.3625, debug_std_frame_5: 1.3558, loss_rl: -0.0744, loss_critic: 0.7399, loss_rl_bc: 0.0929, il_score: 0.2707, rl_score: 0.2670, prev_frame_loss_waypoint_0: 0.7840, prev_frame_loss_rl_bc_0: 0.0987, loss: 2.3976, grad_norm: 9.8651, il_score_sum: 23.2036, rl_score_sum: 22.4557, score_diff: 0.7479, il_win: 1.2500, rl_win: 1.0000
2025-09-24 00:29:43,160 - mmdet - INFO - Epoch [1][440/3517]	lr: 4.593e-05, eta: 19:22:40, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.7760, debug_std_frame_0: 1.3344, debug_std_frame_1: 1.3454, debug_std_frame_2: 1.3483, debug_std_frame_3: 1.3535, debug_std_frame_4: 1.3543, debug_std_frame_5: 1.3501, loss_rl: -0.0561, loss_critic: 0.4897, loss_rl_bc: 0.0942, il_score: 0.2300, rl_score: 0.2332, prev_frame_loss_waypoint_0: 0.8206, prev_frame_loss_rl_bc_0: 0.1005, loss: 2.2478, grad_norm: 8.4678, il_score_sum: 23.2036, rl_score_sum: 22.4557, score_diff: 0.7479, il_win: 1.2500, rl_win: 1.0000
2025-09-24 00:29:59,200 - mmdet - INFO - Epoch [1][460/3517]	lr: 4.727e-05, eta: 19:20:38, time: 0.802, data_time: 0.015, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.7766, debug_std_frame_0: 1.3711, debug_std_frame_1: 1.3830, debug_std_frame_2: 1.3851, debug_std_frame_3: 1.3894, debug_std_frame_4: 1.3905, debug_std_frame_5: 1.3788, loss_rl: -0.0969, loss_critic: 0.6408, loss_rl_bc: 0.0945, il_score: 0.2334, rl_score: 0.2602, prev_frame_loss_waypoint_0: 0.8318, prev_frame_loss_rl_bc_0: 0.1012, loss: 2.3679, grad_norm: 7.8467, il_score_sum: 23.2036, rl_score_sum: 22.4557, score_diff: 0.7479, il_win: 1.2500, rl_win: 1.0000
2025-09-24 00:30:15,281 - mmdet - INFO - Epoch [1][480/3517]	lr: 4.860e-05, eta: 19:18:52, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.7549, debug_std_frame_0: 1.3928, debug_std_frame_1: 1.4034, debug_std_frame_2: 1.4066, debug_std_frame_3: 1.4107, debug_std_frame_4: 1.4115, debug_std_frame_5: 1.4045, loss_rl: -0.0722, loss_critic: 0.6130, loss_rl_bc: 0.0909, il_score: 0.2142, rl_score: 0.2285, prev_frame_loss_waypoint_0: 0.8119, prev_frame_loss_rl_bc_0: 0.0989, loss: 2.3153, grad_norm: 8.6177, il_score_sum: 23.2036, rl_score_sum: 22.4557, score_diff: 0.7479, il_win: 1.2500, rl_win: 1.0000
2025-09-24 00:30:31,630 - mmdet - INFO - Epoch [1][500/3517]	lr: 4.993e-05, eta: 19:17:57, time: 0.817, data_time: 0.014, memory: 8550, loss_rec: 0.0168, loss_waypoint: 0.7404, debug_std_frame_0: 1.3311, debug_std_frame_1: 1.3414, debug_std_frame_2: 1.3405, debug_std_frame_3: 1.3437, debug_std_frame_4: 1.3445, debug_std_frame_5: 1.3357, loss_rl: -0.0811, loss_critic: 0.7996, loss_rl_bc: 0.0927, il_score: 0.2680, rl_score: 0.2731, prev_frame_loss_waypoint_0: 0.7853, prev_frame_loss_rl_bc_0: 0.0989, loss: 2.4526, grad_norm: 9.8248, il_score_sum: 23.4279, rl_score_sum: 23.0126, score_diff: 0.4153, il_win: 1.4000, rl_win: 1.0000
2025-09-24 00:30:47,314 - mmdet - INFO - Epoch [1][520/3517]	lr: 5.000e-05, eta: 19:15:20, time: 0.784, data_time: 0.013, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.7176, debug_std_frame_0: 1.3323, debug_std_frame_1: 1.3415, debug_std_frame_2: 1.3409, debug_std_frame_3: 1.3435, debug_std_frame_4: 1.3450, debug_std_frame_5: 1.3343, loss_rl: -0.0566, loss_critic: 0.6932, loss_rl_bc: 0.0890, il_score: 0.2695, rl_score: 0.2751, prev_frame_loss_waypoint_0: 0.7725, prev_frame_loss_rl_bc_0: 0.0958, loss: 2.3271, grad_norm: 8.8196, il_score_sum: 23.4279, rl_score_sum: 23.0126, score_diff: 0.4153, il_win: 1.4000, rl_win: 1.0000
2025-09-24 00:31:03,184 - mmdet - INFO - Epoch [1][540/3517]	lr: 5.000e-05, eta: 19:13:21, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0149, loss_waypoint: 0.7590, debug_std_frame_0: 1.2961, debug_std_frame_1: 1.3052, debug_std_frame_2: 1.3032, debug_std_frame_3: 1.3025, debug_std_frame_4: 1.3029, debug_std_frame_5: 1.2945, loss_rl: -0.0704, loss_critic: 0.5715, loss_rl_bc: 0.0915, il_score: 0.2302, rl_score: 0.2433, prev_frame_loss_waypoint_0: 0.8077, prev_frame_loss_rl_bc_0: 0.0978, loss: 2.2719, grad_norm: 8.0139, il_score_sum: 23.4279, rl_score_sum: 23.0126, score_diff: 0.4153, il_win: 1.4000, rl_win: 1.0000
2025-09-24 00:31:19,336 - mmdet - INFO - Epoch [1][560/3517]	lr: 5.000e-05, eta: 19:12:13, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.7715, debug_std_frame_0: 1.3564, debug_std_frame_1: 1.3651, debug_std_frame_2: 1.3644, debug_std_frame_3: 1.3667, debug_std_frame_4: 1.3680, debug_std_frame_5: 1.3571, loss_rl: -0.0701, loss_critic: 0.6275, loss_rl_bc: 0.0937, il_score: 0.2450, rl_score: 0.2557, prev_frame_loss_waypoint_0: 0.8464, prev_frame_loss_rl_bc_0: 0.1022, loss: 2.3858, grad_norm: 8.0225, il_score_sum: 23.4279, rl_score_sum: 23.0126, score_diff: 0.4153, il_win: 1.4000, rl_win: 1.0000
2025-09-24 00:31:35,326 - mmdet - INFO - Epoch [1][580/3517]	lr: 5.000e-05, eta: 19:10:44, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.7717, debug_std_frame_0: 1.4046, debug_std_frame_1: 1.4124, debug_std_frame_2: 1.4122, debug_std_frame_3: 1.4119, debug_std_frame_4: 1.4127, debug_std_frame_5: 1.4030, loss_rl: -0.0491, loss_critic: 0.6072, loss_rl_bc: 0.0931, il_score: 0.2298, rl_score: 0.2462, prev_frame_loss_waypoint_0: 0.8271, prev_frame_loss_rl_bc_0: 0.0993, loss: 2.3633, grad_norm: 8.6846, il_score_sum: 23.4279, rl_score_sum: 23.0126, score_diff: 0.4153, il_win: 1.4000, rl_win: 1.0000
2025-09-24 00:31:51,474 - mmdet - INFO - Epoch [1][600/3517]	lr: 5.000e-05, eta: 19:09:42, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.8017, debug_std_frame_0: 1.3180, debug_std_frame_1: 1.3251, debug_std_frame_2: 1.3238, debug_std_frame_3: 1.3228, debug_std_frame_4: 1.3219, debug_std_frame_5: 1.3124, loss_rl: -0.0452, loss_critic: 0.6286, loss_rl_bc: 0.0983, il_score: 0.2423, rl_score: 0.2539, prev_frame_loss_waypoint_0: 0.8369, prev_frame_loss_rl_bc_0: 0.1023, loss: 2.4356, grad_norm: 8.4738, il_score_sum: 23.5793, rl_score_sum: 23.4245, score_diff: 0.1548, il_win: 1.5000, rl_win: 1.1667
2025-09-24 00:32:07,179 - mmdet - INFO - Epoch [1][620/3517]	lr: 5.000e-05, eta: 19:07:42, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.7375, debug_std_frame_0: 1.4311, debug_std_frame_1: 1.4394, debug_std_frame_2: 1.4400, debug_std_frame_3: 1.4411, debug_std_frame_4: 1.4426, debug_std_frame_5: 1.4294, loss_rl: -0.0420, loss_critic: 0.6673, loss_rl_bc: 0.0914, il_score: 0.2644, rl_score: 0.2844, prev_frame_loss_waypoint_0: 0.7955, prev_frame_loss_rl_bc_0: 0.0967, loss: 2.3728, grad_norm: 10.4917, il_score_sum: 23.5793, rl_score_sum: 23.4245, score_diff: 0.1548, il_win: 1.5000, rl_win: 1.1667
2025-09-24 00:32:23,386 - mmdet - INFO - Epoch [1][640/3517]	lr: 5.000e-05, eta: 19:06:56, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0161, loss_waypoint: 0.7389, debug_std_frame_0: 1.2751, debug_std_frame_1: 1.2819, debug_std_frame_2: 1.2807, debug_std_frame_3: 1.2791, debug_std_frame_4: 1.2797, debug_std_frame_5: 1.2710, loss_rl: -0.0548, loss_critic: 0.5747, loss_rl_bc: 0.0900, il_score: 0.2531, rl_score: 0.2717, prev_frame_loss_waypoint_0: 0.7940, prev_frame_loss_rl_bc_0: 0.0964, loss: 2.2553, grad_norm: 9.3944, il_score_sum: 23.5793, rl_score_sum: 23.4245, score_diff: 0.1548, il_win: 1.5000, rl_win: 1.1667
2025-09-24 00:32:39,526 - mmdet - INFO - Epoch [1][660/3517]	lr: 5.000e-05, eta: 19:06:03, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0134, loss_waypoint: 0.8031, debug_std_frame_0: 1.3035, debug_std_frame_1: 1.3097, debug_std_frame_2: 1.3074, debug_std_frame_3: 1.3055, debug_std_frame_4: 1.3071, debug_std_frame_5: 1.2980, loss_rl: -0.0357, loss_critic: 0.6263, loss_rl_bc: 0.0955, il_score: 0.2323, rl_score: 0.2402, prev_frame_loss_waypoint_0: 0.8490, prev_frame_loss_rl_bc_0: 0.1018, loss: 2.4535, grad_norm: 10.6065, il_score_sum: 23.5793, rl_score_sum: 23.4245, score_diff: 0.1548, il_win: 1.5000, rl_win: 1.1667
2025-09-24 00:32:55,524 - mmdet - INFO - Epoch [1][680/3517]	lr: 5.000e-05, eta: 19:04:54, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.7450, debug_std_frame_0: 1.3864, debug_std_frame_1: 1.3926, debug_std_frame_2: 1.3900, debug_std_frame_3: 1.3880, debug_std_frame_4: 1.3899, debug_std_frame_5: 1.3802, loss_rl: -0.0826, loss_critic: 0.6776, loss_rl_bc: 0.0930, il_score: 0.2649, rl_score: 0.2638, prev_frame_loss_waypoint_0: 0.8190, prev_frame_loss_rl_bc_0: 0.1029, loss: 2.3672, grad_norm: 7.7142, il_score_sum: 23.5793, rl_score_sum: 23.4245, score_diff: 0.1548, il_win: 1.5000, rl_win: 1.1667
2025-09-24 00:33:11,893 - mmdet - INFO - Epoch [1][700/3517]	lr: 5.000e-05, eta: 19:04:33, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.6604, debug_std_frame_0: 1.3670, debug_std_frame_1: 1.3736, debug_std_frame_2: 1.3702, debug_std_frame_3: 1.3666, debug_std_frame_4: 1.3677, debug_std_frame_5: 1.3568, loss_rl: -0.0801, loss_critic: 0.6031, loss_rl_bc: 0.0849, il_score: 0.2859, rl_score: 0.2897, prev_frame_loss_waypoint_0: 0.7398, prev_frame_loss_rl_bc_0: 0.0924, loss: 2.1127, grad_norm: 6.8082, il_score_sum: 23.9266, rl_score_sum: 23.9346, score_diff: -0.0080, il_win: 1.5714, rl_win: 1.2857
2025-09-24 00:33:27,956 - mmdet - INFO - Epoch [1][720/3517]	lr: 5.000e-05, eta: 19:03:37, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.7953, debug_std_frame_0: 1.2324, debug_std_frame_1: 1.2375, debug_std_frame_2: 1.2334, debug_std_frame_3: 1.2284, debug_std_frame_4: 1.2275, debug_std_frame_5: 1.2191, loss_rl: -0.0362, loss_critic: 0.5151, loss_rl_bc: 0.0993, il_score: 0.2430, rl_score: 0.2491, prev_frame_loss_waypoint_0: 0.8462, prev_frame_loss_rl_bc_0: 0.1060, loss: 2.3375, grad_norm: 7.2640, il_score_sum: 23.9266, rl_score_sum: 23.9346, score_diff: -0.0080, il_win: 1.5714, rl_win: 1.2857
2025-09-24 00:33:44,180 - mmdet - INFO - Epoch [1][740/3517]	lr: 5.000e-05, eta: 19:02:59, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0117, loss_waypoint: 0.7568, debug_std_frame_0: 1.3931, debug_std_frame_1: 1.3985, debug_std_frame_2: 1.3991, debug_std_frame_3: 1.3942, debug_std_frame_4: 1.3941, debug_std_frame_5: 1.3916, loss_rl: -0.0768, loss_critic: 0.6835, loss_rl_bc: 0.0973, il_score: 0.2572, rl_score: 0.2787, prev_frame_loss_waypoint_0: 0.7993, prev_frame_loss_rl_bc_0: 0.1032, loss: 2.3749, grad_norm: 7.6522, il_score_sum: 23.9266, rl_score_sum: 23.9346, score_diff: -0.0080, il_win: 1.5714, rl_win: 1.2857
2025-09-24 00:34:00,407 - mmdet - INFO - Epoch [1][760/3517]	lr: 5.000e-05, eta: 19:02:25, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.7593, debug_std_frame_0: 1.2882, debug_std_frame_1: 1.2931, debug_std_frame_2: 1.2926, debug_std_frame_3: 1.2890, debug_std_frame_4: 1.2884, debug_std_frame_5: 1.2907, loss_rl: -0.0744, loss_critic: 0.7540, loss_rl_bc: 0.0952, il_score: 0.2724, rl_score: 0.2641, prev_frame_loss_waypoint_0: 0.8041, prev_frame_loss_rl_bc_0: 0.0994, loss: 2.4487, grad_norm: 9.2441, il_score_sum: 23.9266, rl_score_sum: 23.9346, score_diff: -0.0080, il_win: 1.5714, rl_win: 1.2857
2025-09-24 00:34:16,388 - mmdet - INFO - Epoch [1][780/3517]	lr: 5.000e-05, eta: 19:01:25, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.7335, debug_std_frame_0: 1.3580, debug_std_frame_1: 1.3640, debug_std_frame_2: 1.3633, debug_std_frame_3: 1.3590, debug_std_frame_4: 1.3605, debug_std_frame_5: 1.3590, loss_rl: -0.0710, loss_critic: 0.5796, loss_rl_bc: 0.0899, il_score: 0.2231, rl_score: 0.2413, prev_frame_loss_waypoint_0: 0.8155, prev_frame_loss_rl_bc_0: 0.1003, loss: 2.2589, grad_norm: 7.9110, il_score_sum: 23.9266, rl_score_sum: 23.9346, score_diff: -0.0080, il_win: 1.5714, rl_win: 1.2857
2025-09-24 00:34:32,736 - mmdet - INFO - Epoch [1][800/3517]	lr: 5.000e-05, eta: 19:01:06, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.7666, debug_std_frame_0: 1.3672, debug_std_frame_1: 1.3736, debug_std_frame_2: 1.3734, debug_std_frame_3: 1.3681, debug_std_frame_4: 1.3700, debug_std_frame_5: 1.3664, loss_rl: -0.0364, loss_critic: 0.4487, loss_rl_bc: 0.0946, il_score: 0.2538, rl_score: 0.2625, prev_frame_loss_waypoint_0: 0.8306, prev_frame_loss_rl_bc_0: 0.1001, loss: 2.2153, grad_norm: 8.7117, il_score_sum: 24.0594, rl_score_sum: 24.1821, score_diff: -0.1227, il_win: 1.6250, rl_win: 1.3750
2025-09-24 00:34:48,936 - mmdet - INFO - Epoch [1][820/3517]	lr: 5.000e-05, eta: 19:00:28, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.7266, debug_std_frame_0: 1.2386, debug_std_frame_1: 1.2430, debug_std_frame_2: 1.2414, debug_std_frame_3: 1.2375, debug_std_frame_4: 1.2376, debug_std_frame_5: 1.2348, loss_rl: -0.0436, loss_critic: 0.6607, loss_rl_bc: 0.0900, il_score: 0.2863, rl_score: 0.2937, prev_frame_loss_waypoint_0: 0.7615, prev_frame_loss_rl_bc_0: 0.0946, loss: 2.3012, grad_norm: 9.1586, il_score_sum: 24.0594, rl_score_sum: 24.1821, score_diff: -0.1227, il_win: 1.6250, rl_win: 1.3750
2025-09-24 00:35:05,079 - mmdet - INFO - Epoch [1][840/3517]	lr: 5.000e-05, eta: 18:59:52, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.6590, debug_std_frame_0: 1.2477, debug_std_frame_1: 1.2522, debug_std_frame_2: 1.2521, debug_std_frame_3: 1.2459, debug_std_frame_4: 1.2451, debug_std_frame_5: 1.2420, loss_rl: -0.0605, loss_critic: 0.6953, loss_rl_bc: 0.0844, il_score: 0.2841, rl_score: 0.2869, prev_frame_loss_waypoint_0: 0.6956, prev_frame_loss_rl_bc_0: 0.0914, loss: 2.1762, grad_norm: 7.0375, il_score_sum: 24.0594, rl_score_sum: 24.1821, score_diff: -0.1227, il_win: 1.6250, rl_win: 1.3750
2025-09-24 00:35:21,037 - mmdet - INFO - Epoch [1][860/3517]	lr: 5.000e-05, eta: 18:58:56, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.7391, debug_std_frame_0: 1.2089, debug_std_frame_1: 1.2132, debug_std_frame_2: 1.2101, debug_std_frame_3: 1.2040, debug_std_frame_4: 1.2032, debug_std_frame_5: 1.1994, loss_rl: -0.0671, loss_critic: 0.6809, loss_rl_bc: 0.0907, il_score: 0.2627, rl_score: 0.2753, prev_frame_loss_waypoint_0: 0.7900, prev_frame_loss_rl_bc_0: 0.0960, loss: 2.3405, grad_norm: 7.8555, il_score_sum: 24.0594, rl_score_sum: 24.1821, score_diff: -0.1227, il_win: 1.6250, rl_win: 1.3750
2025-09-24 00:35:36,994 - mmdet - INFO - Epoch [1][880/3517]	lr: 5.000e-05, eta: 18:58:01, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.7539, debug_std_frame_0: 1.2663, debug_std_frame_1: 1.2700, debug_std_frame_2: 1.2660, debug_std_frame_3: 1.2588, debug_std_frame_4: 1.2573, debug_std_frame_5: 1.2566, loss_rl: -0.0419, loss_critic: 0.4207, loss_rl_bc: 0.0899, il_score: 0.2376, rl_score: 0.2297, prev_frame_loss_waypoint_0: 0.8129, prev_frame_loss_rl_bc_0: 0.0970, loss: 2.1432, grad_norm: 7.8525, il_score_sum: 24.0594, rl_score_sum: 24.1821, score_diff: -0.1227, il_win: 1.6250, rl_win: 1.3750
2025-09-24 00:35:53,495 - mmdet - INFO - Epoch [1][900/3517]	lr: 5.000e-05, eta: 18:57:59, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.7102, debug_std_frame_0: 1.3265, debug_std_frame_1: 1.3309, debug_std_frame_2: 1.3272, debug_std_frame_3: 1.3195, debug_std_frame_4: 1.3183, debug_std_frame_5: 1.3171, loss_rl: -0.0859, loss_critic: 0.7972, loss_rl_bc: 0.0914, il_score: 0.2741, rl_score: 0.2871, prev_frame_loss_waypoint_0: 0.7846, prev_frame_loss_rl_bc_0: 0.0993, loss: 2.4070, grad_norm: 7.0216, il_score_sum: 24.3745, rl_score_sum: 24.5455, score_diff: -0.1710, il_win: 1.6667, rl_win: 1.4444
2025-09-24 00:36:09,310 - mmdet - INFO - Epoch [1][920/3517]	lr: 5.000e-05, eta: 18:56:54, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.6824, debug_std_frame_0: 1.2882, debug_std_frame_1: 1.2927, debug_std_frame_2: 1.2892, debug_std_frame_3: 1.2823, debug_std_frame_4: 1.2806, debug_std_frame_5: 1.2779, loss_rl: -0.0696, loss_critic: 0.6765, loss_rl_bc: 0.0882, il_score: 0.2978, rl_score: 0.3000, prev_frame_loss_waypoint_0: 0.7512, prev_frame_loss_rl_bc_0: 0.0953, loss: 2.2342, grad_norm: 8.0563, il_score_sum: 24.3745, rl_score_sum: 24.5455, score_diff: -0.1710, il_win: 1.6667, rl_win: 1.4444
2025-09-24 00:36:25,196 - mmdet - INFO - Epoch [1][940/3517]	lr: 5.000e-05, eta: 18:55:57, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.7847, debug_std_frame_0: 1.3117, debug_std_frame_1: 1.3151, debug_std_frame_2: 1.3136, debug_std_frame_3: 1.3063, debug_std_frame_4: 1.3070, debug_std_frame_5: 1.3043, loss_rl: -0.0765, loss_critic: 0.8025, loss_rl_bc: 0.0980, il_score: 0.2618, rl_score: 0.2738, prev_frame_loss_waypoint_0: 0.8423, prev_frame_loss_rl_bc_0: 0.1033, loss: 2.5642, grad_norm: 9.5598, il_score_sum: 24.3745, rl_score_sum: 24.5455, score_diff: -0.1710, il_win: 1.6667, rl_win: 1.4444
2025-09-24 00:36:41,395 - mmdet - INFO - Epoch [1][960/3517]	lr: 5.000e-05, eta: 18:55:29, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.8229, debug_std_frame_0: 1.3793, debug_std_frame_1: 1.3835, debug_std_frame_2: 1.3809, debug_std_frame_3: 1.3772, debug_std_frame_4: 1.3770, debug_std_frame_5: 1.3767, loss_rl: -0.0444, loss_critic: 0.4506, loss_rl_bc: 0.0950, il_score: 0.2369, rl_score: 0.2328, prev_frame_loss_waypoint_0: 0.8614, prev_frame_loss_rl_bc_0: 0.1001, loss: 2.2955, grad_norm: 9.3115, il_score_sum: 24.3745, rl_score_sum: 24.5455, score_diff: -0.1710, il_win: 1.6667, rl_win: 1.4444
2025-09-24 00:36:57,356 - mmdet - INFO - Epoch [1][980/3517]	lr: 5.000e-05, eta: 18:54:41, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.7310, debug_std_frame_0: 1.3033, debug_std_frame_1: 1.3064, debug_std_frame_2: 1.3054, debug_std_frame_3: 1.2997, debug_std_frame_4: 1.2997, debug_std_frame_5: 1.2985, loss_rl: -0.0246, loss_critic: 0.5050, loss_rl_bc: 0.0907, il_score: 0.2424, rl_score: 0.2461, prev_frame_loss_waypoint_0: 0.7632, prev_frame_loss_rl_bc_0: 0.0953, loss: 2.1704, grad_norm: 6.4269, il_score_sum: 24.3745, rl_score_sum: 24.5455, score_diff: -0.1710, il_win: 1.6667, rl_win: 1.4444
2025-09-24 00:37:13,510 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 00:37:13,510 - mmdet - INFO - Epoch [1][1000/3517]	lr: 5.000e-05, eta: 18:54:11, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.7383, debug_std_frame_0: 1.2882, debug_std_frame_1: 1.2916, debug_std_frame_2: 1.2900, debug_std_frame_3: 1.2857, debug_std_frame_4: 1.2849, debug_std_frame_5: 1.2842, loss_rl: -0.0416, loss_critic: 0.6941, loss_rl_bc: 0.0916, il_score: 0.2552, rl_score: 0.2758, prev_frame_loss_waypoint_0: 0.7837, prev_frame_loss_rl_bc_0: 0.0978, loss: 2.3735, grad_norm: 7.7131, il_score_sum: 24.5253, rl_score_sum: 24.7479, score_diff: -0.2227, il_win: 1.7000, rl_win: 1.5000
2025-09-24 00:37:29,214 - mmdet - INFO - Epoch [1][1020/3517]	lr: 5.000e-05, eta: 18:53:05, time: 0.785, data_time: 0.014, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.7225, debug_std_frame_0: 1.3045, debug_std_frame_1: 1.3089, debug_std_frame_2: 1.3071, debug_std_frame_3: 1.3009, debug_std_frame_4: 1.3018, debug_std_frame_5: 1.2992, loss_rl: -0.0716, loss_critic: 0.6763, loss_rl_bc: 0.0897, il_score: 0.2789, rl_score: 0.2845, prev_frame_loss_waypoint_0: 0.7836, prev_frame_loss_rl_bc_0: 0.0969, loss: 2.3068, grad_norm: 9.0638, il_score_sum: 24.5253, rl_score_sum: 24.7479, score_diff: -0.2227, il_win: 1.7000, rl_win: 1.5000
2025-09-24 00:37:45,288 - mmdet - INFO - Epoch [1][1040/3517]	lr: 5.000e-05, eta: 18:52:30, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.7491, debug_std_frame_0: 1.2785, debug_std_frame_1: 1.2818, debug_std_frame_2: 1.2783, debug_std_frame_3: 1.2733, debug_std_frame_4: 1.2729, debug_std_frame_5: 1.2724, loss_rl: -0.0482, loss_critic: 0.6724, loss_rl_bc: 0.0950, il_score: 0.2691, rl_score: 0.2625, prev_frame_loss_waypoint_0: 0.7852, prev_frame_loss_rl_bc_0: 0.0998, loss: 2.3627, grad_norm: 6.7538, il_score_sum: 24.5253, rl_score_sum: 24.7479, score_diff: -0.2227, il_win: 1.7000, rl_win: 1.5000
2025-09-24 00:38:01,470 - mmdet - INFO - Epoch [1][1060/3517]	lr: 5.000e-05, eta: 18:52:04, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.7567, debug_std_frame_0: 1.2684, debug_std_frame_1: 1.2703, debug_std_frame_2: 1.2694, debug_std_frame_3: 1.2660, debug_std_frame_4: 1.2663, debug_std_frame_5: 1.2648, loss_rl: -0.0207, loss_critic: 0.5007, loss_rl_bc: 0.0897, il_score: 0.2306, rl_score: 0.2462, prev_frame_loss_waypoint_0: 0.8012, prev_frame_loss_rl_bc_0: 0.0964, loss: 2.2333, grad_norm: 8.7108, il_score_sum: 24.5253, rl_score_sum: 24.7479, score_diff: -0.2227, il_win: 1.7000, rl_win: 1.5000
2025-09-24 00:38:17,159 - mmdet - INFO - Epoch [1][1080/3517]	lr: 5.000e-05, eta: 18:51:01, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.7863, debug_std_frame_0: 1.3016, debug_std_frame_1: 1.3030, debug_std_frame_2: 1.3032, debug_std_frame_3: 1.2982, debug_std_frame_4: 1.2982, debug_std_frame_5: 1.2965, loss_rl: -0.0932, loss_critic: 0.7247, loss_rl_bc: 0.0963, il_score: 0.2709, rl_score: 0.2682, prev_frame_loss_waypoint_0: 0.7907, prev_frame_loss_rl_bc_0: 0.0994, loss: 2.4133, grad_norm: 8.5783, il_score_sum: 24.5253, rl_score_sum: 24.7479, score_diff: -0.2227, il_win: 1.7000, rl_win: 1.5000
2025-09-24 00:38:33,283 - mmdet - INFO - Epoch [1][1100/3517]	lr: 5.000e-05, eta: 18:50:32, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.7334, debug_std_frame_0: 1.3335, debug_std_frame_1: 1.3364, debug_std_frame_2: 1.3369, debug_std_frame_3: 1.3336, debug_std_frame_4: 1.3342, debug_std_frame_5: 1.3329, loss_rl: -0.0701, loss_critic: 0.6527, loss_rl_bc: 0.0915, il_score: 0.2556, rl_score: 0.2811, prev_frame_loss_waypoint_0: 0.7864, prev_frame_loss_rl_bc_0: 0.0966, loss: 2.2996, grad_norm: 8.3388, il_score_sum: 24.6685, rl_score_sum: 24.9390, score_diff: -0.2705, il_win: 1.7273, rl_win: 1.5455
2025-09-24 00:38:49,133 - mmdet - INFO - Epoch [1][1120/3517]	lr: 5.000e-05, eta: 18:49:43, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.7631, debug_std_frame_0: 1.2204, debug_std_frame_1: 1.2216, debug_std_frame_2: 1.2223, debug_std_frame_3: 1.2182, debug_std_frame_4: 1.2186, debug_std_frame_5: 1.2190, loss_rl: -0.0386, loss_critic: 0.5537, loss_rl_bc: 0.0932, il_score: 0.2388, rl_score: 0.2467, prev_frame_loss_waypoint_0: 0.8242, prev_frame_loss_rl_bc_0: 0.1011, loss: 2.3056, grad_norm: 8.8644, il_score_sum: 24.6685, rl_score_sum: 24.9390, score_diff: -0.2705, il_win: 1.7273, rl_win: 1.5455
2025-09-24 00:39:05,050 - mmdet - INFO - Epoch [1][1140/3517]	lr: 5.000e-05, eta: 18:49:01, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.7902, debug_std_frame_0: 1.3500, debug_std_frame_1: 1.3539, debug_std_frame_2: 1.3522, debug_std_frame_3: 1.3478, debug_std_frame_4: 1.3479, debug_std_frame_5: 1.3470, loss_rl: -0.0902, loss_critic: 0.6376, loss_rl_bc: 0.0954, il_score: 0.2612, rl_score: 0.2613, prev_frame_loss_waypoint_0: 0.8372, prev_frame_loss_rl_bc_0: 0.1009, loss: 2.3803, grad_norm: 7.8106, il_score_sum: 24.6685, rl_score_sum: 24.9390, score_diff: -0.2705, il_win: 1.7273, rl_win: 1.5455
2025-09-24 00:39:20,944 - mmdet - INFO - Epoch [1][1160/3517]	lr: 5.000e-05, eta: 18:48:17, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.7351, debug_std_frame_0: 1.3730, debug_std_frame_1: 1.3764, debug_std_frame_2: 1.3761, debug_std_frame_3: 1.3710, debug_std_frame_4: 1.3727, debug_std_frame_5: 1.3737, loss_rl: -0.0645, loss_critic: 0.6723, loss_rl_bc: 0.0924, il_score: 0.2733, rl_score: 0.2762, prev_frame_loss_waypoint_0: 0.7835, prev_frame_loss_rl_bc_0: 0.0969, loss: 2.3247, grad_norm: 7.3929, il_score_sum: 24.6685, rl_score_sum: 24.9390, score_diff: -0.2705, il_win: 1.7273, rl_win: 1.5455
2025-09-24 00:39:36,959 - mmdet - INFO - Epoch [1][1180/3517]	lr: 5.000e-05, eta: 18:47:44, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.8047, debug_std_frame_0: 1.2655, debug_std_frame_1: 1.2685, debug_std_frame_2: 1.2681, debug_std_frame_3: 1.2640, debug_std_frame_4: 1.2658, debug_std_frame_5: 1.2646, loss_rl: -0.0488, loss_critic: 0.5734, loss_rl_bc: 0.0965, il_score: 0.2397, rl_score: 0.2573, prev_frame_loss_waypoint_0: 0.8486, prev_frame_loss_rl_bc_0: 0.1026, loss: 2.3856, grad_norm: 7.3915, il_score_sum: 24.6685, rl_score_sum: 24.9390, score_diff: -0.2705, il_win: 1.7273, rl_win: 1.5455
2025-09-24 00:39:53,227 - mmdet - INFO - Epoch [1][1200/3517]	lr: 5.000e-05, eta: 18:47:28, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.7661, debug_std_frame_0: 1.3527, debug_std_frame_1: 1.3554, debug_std_frame_2: 1.3561, debug_std_frame_3: 1.3511, debug_std_frame_4: 1.3516, debug_std_frame_5: 1.3495, loss_rl: -0.0473, loss_critic: 0.5248, loss_rl_bc: 0.0935, il_score: 0.2326, rl_score: 0.2586, prev_frame_loss_waypoint_0: 0.8329, prev_frame_loss_rl_bc_0: 0.1004, loss: 2.2787, grad_norm: 7.8777, il_score_sum: 24.6887, rl_score_sum: 25.0276, score_diff: -0.3389, il_win: 1.7500, rl_win: 1.6667
2025-09-24 00:40:08,997 - mmdet - INFO - Epoch [1][1220/3517]	lr: 5.000e-05, eta: 18:46:38, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0190, loss_waypoint: 0.7489, debug_std_frame_0: 1.3207, debug_std_frame_1: 1.3228, debug_std_frame_2: 1.3221, debug_std_frame_3: 1.3188, debug_std_frame_4: 1.3196, debug_std_frame_5: 1.3182, loss_rl: -0.0328, loss_critic: 0.5697, loss_rl_bc: 0.0906, il_score: 0.2491, rl_score: 0.2510, prev_frame_loss_waypoint_0: 0.7955, prev_frame_loss_rl_bc_0: 0.0962, loss: 2.2871, grad_norm: 8.5499, il_score_sum: 24.6887, rl_score_sum: 25.0276, score_diff: -0.3389, il_win: 1.7500, rl_win: 1.6667
2025-09-24 00:40:24,868 - mmdet - INFO - Epoch [1][1240/3517]	lr: 5.000e-05, eta: 18:45:56, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.8063, debug_std_frame_0: 1.3042, debug_std_frame_1: 1.3071, debug_std_frame_2: 1.3070, debug_std_frame_3: 1.3045, debug_std_frame_4: 1.3056, debug_std_frame_5: 1.3051, loss_rl: -0.0389, loss_critic: 0.6622, loss_rl_bc: 0.0957, il_score: 0.2371, rl_score: 0.2403, prev_frame_loss_waypoint_0: 0.8453, prev_frame_loss_rl_bc_0: 0.1019, loss: 2.4861, grad_norm: 8.8087, il_score_sum: 24.6887, rl_score_sum: 25.0276, score_diff: -0.3389, il_win: 1.7500, rl_win: 1.6667
2025-09-24 00:40:40,774 - mmdet - INFO - Epoch [1][1260/3517]	lr: 5.000e-05, eta: 18:45:17, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.8153, debug_std_frame_0: 1.3678, debug_std_frame_1: 1.3704, debug_std_frame_2: 1.3712, debug_std_frame_3: 1.3692, debug_std_frame_4: 1.3685, debug_std_frame_5: 1.3711, loss_rl: -0.0141, loss_critic: 0.4956, loss_rl_bc: 0.0956, il_score: 0.2020, rl_score: 0.2152, prev_frame_loss_waypoint_0: 0.8643, prev_frame_loss_rl_bc_0: 0.1012, loss: 2.3686, grad_norm: 7.2928, il_score_sum: 24.6887, rl_score_sum: 25.0276, score_diff: -0.3389, il_win: 1.7500, rl_win: 1.6667
2025-09-24 00:40:56,653 - mmdet - INFO - Epoch [1][1280/3517]	lr: 5.000e-05, eta: 18:44:38, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.7310, debug_std_frame_0: 1.3686, debug_std_frame_1: 1.3708, debug_std_frame_2: 1.3713, debug_std_frame_3: 1.3688, debug_std_frame_4: 1.3697, debug_std_frame_5: 1.3705, loss_rl: -0.0385, loss_critic: 0.5378, loss_rl_bc: 0.0899, il_score: 0.2314, rl_score: 0.2503, prev_frame_loss_waypoint_0: 0.7809, prev_frame_loss_rl_bc_0: 0.0960, loss: 2.2072, grad_norm: 7.2304, il_score_sum: 24.6887, rl_score_sum: 25.0276, score_diff: -0.3389, il_win: 1.7500, rl_win: 1.6667
2025-09-24 00:41:12,908 - mmdet - INFO - Epoch [1][1300/3517]	lr: 5.000e-05, eta: 18:44:23, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.7240, debug_std_frame_0: 1.2920, debug_std_frame_1: 1.2931, debug_std_frame_2: 1.2941, debug_std_frame_3: 1.2909, debug_std_frame_4: 1.2907, debug_std_frame_5: 1.2908, loss_rl: -0.0845, loss_critic: 0.7831, loss_rl_bc: 0.0909, il_score: 0.2621, rl_score: 0.2795, prev_frame_loss_waypoint_0: 0.7857, prev_frame_loss_rl_bc_0: 0.0981, loss: 2.4064, grad_norm: 7.2276, il_score_sum: 24.6076, rl_score_sum: 25.0045, score_diff: -0.3969, il_win: 1.7692, rl_win: 1.8462
2025-09-24 00:41:28,561 - mmdet - INFO - Epoch [1][1320/3517]	lr: 5.000e-05, eta: 18:43:30, time: 0.783, data_time: 0.011, memory: 8550, loss_rec: 0.0152, loss_waypoint: 0.7310, debug_std_frame_0: 1.2514, debug_std_frame_1: 1.2523, debug_std_frame_2: 1.2520, debug_std_frame_3: 1.2498, debug_std_frame_4: 1.2511, debug_std_frame_5: 1.2505, loss_rl: -0.0361, loss_critic: 0.7279, loss_rl_bc: 0.0904, il_score: 0.2625, rl_score: 0.2767, prev_frame_loss_waypoint_0: 0.7718, prev_frame_loss_rl_bc_0: 0.0956, loss: 2.3959, grad_norm: 9.4174, il_score_sum: 24.6076, rl_score_sum: 25.0045, score_diff: -0.3969, il_win: 1.7692, rl_win: 1.8462
2025-09-24 00:41:44,335 - mmdet - INFO - Epoch [1][1340/3517]	lr: 5.000e-05, eta: 18:42:46, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.7169, debug_std_frame_0: 1.2773, debug_std_frame_1: 1.2772, debug_std_frame_2: 1.2752, debug_std_frame_3: 1.2734, debug_std_frame_4: 1.2740, debug_std_frame_5: 1.2758, loss_rl: -0.0312, loss_critic: 0.7376, loss_rl_bc: 0.0877, il_score: 0.2468, rl_score: 0.2603, prev_frame_loss_waypoint_0: 0.7742, prev_frame_loss_rl_bc_0: 0.0951, loss: 2.3901, grad_norm: 7.5662, il_score_sum: 24.6076, rl_score_sum: 25.0045, score_diff: -0.3969, il_win: 1.7692, rl_win: 1.8462
2025-09-24 00:42:00,092 - mmdet - INFO - Epoch [1][1360/3517]	lr: 5.000e-05, eta: 18:42:01, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.7108, debug_std_frame_0: 1.2769, debug_std_frame_1: 1.2769, debug_std_frame_2: 1.2757, debug_std_frame_3: 1.2716, debug_std_frame_4: 1.2729, debug_std_frame_5: 1.2735, loss_rl: -0.0286, loss_critic: 0.6519, loss_rl_bc: 0.0892, il_score: 0.2642, rl_score: 0.2742, prev_frame_loss_waypoint_0: 0.7571, prev_frame_loss_rl_bc_0: 0.0963, loss: 2.2863, grad_norm: 6.7852, il_score_sum: 24.6076, rl_score_sum: 25.0045, score_diff: -0.3969, il_win: 1.7692, rl_win: 1.8462
2025-09-24 00:42:16,102 - mmdet - INFO - Epoch [1][1380/3517]	lr: 5.000e-05, eta: 18:41:33, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.7675, debug_std_frame_0: 1.2644, debug_std_frame_1: 1.2638, debug_std_frame_2: 1.2628, debug_std_frame_3: 1.2596, debug_std_frame_4: 1.2611, debug_std_frame_5: 1.2620, loss_rl: -0.0266, loss_critic: 0.7293, loss_rl_bc: 0.0944, il_score: 0.2651, rl_score: 0.2814, prev_frame_loss_waypoint_0: 0.8070, prev_frame_loss_rl_bc_0: 0.0983, loss: 2.4788, grad_norm: 8.7643, il_score_sum: 24.6076, rl_score_sum: 25.0045, score_diff: -0.3969, il_win: 1.7692, rl_win: 1.8462
2025-09-24 00:42:32,232 - mmdet - INFO - Epoch [1][1400/3517]	lr: 5.000e-05, eta: 18:41:12, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.8874, debug_std_frame_0: 1.3220, debug_std_frame_1: 1.3212, debug_std_frame_2: 1.3219, debug_std_frame_3: 1.3183, debug_std_frame_4: 1.3199, debug_std_frame_5: 1.3207, loss_rl: -0.0293, loss_critic: 0.5176, loss_rl_bc: 0.1007, il_score: 0.2126, rl_score: 0.2337, prev_frame_loss_waypoint_0: 0.8939, prev_frame_loss_rl_bc_0: 0.1033, loss: 2.4827, grad_norm: 7.4089, il_score_sum: 24.6371, rl_score_sum: 25.1133, score_diff: -0.4762, il_win: 1.7857, rl_win: 2.0714
2025-09-24 00:42:47,827 - mmdet - INFO - Epoch [1][1420/3517]	lr: 5.000e-05, eta: 18:40:20, time: 0.780, data_time: 0.013, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.7605, debug_std_frame_0: 1.3665, debug_std_frame_1: 1.3680, debug_std_frame_2: 1.3681, debug_std_frame_3: 1.3650, debug_std_frame_4: 1.3682, debug_std_frame_5: 1.3693, loss_rl: -0.0533, loss_critic: 0.6951, loss_rl_bc: 0.0938, il_score: 0.2502, rl_score: 0.2681, prev_frame_loss_waypoint_0: 0.8086, prev_frame_loss_rl_bc_0: 0.0993, loss: 2.4177, grad_norm: 8.8432, il_score_sum: 24.6371, rl_score_sum: 25.1133, score_diff: -0.4762, il_win: 1.7857, rl_win: 2.0714
2025-09-24 00:43:03,533 - mmdet - INFO - Epoch [1][1440/3517]	lr: 5.000e-05, eta: 18:39:35, time: 0.785, data_time: 0.011, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.8033, debug_std_frame_0: 1.3417, debug_std_frame_1: 1.3427, debug_std_frame_2: 1.3426, debug_std_frame_3: 1.3426, debug_std_frame_4: 1.3454, debug_std_frame_5: 1.3471, loss_rl: -0.0292, loss_critic: 0.5765, loss_rl_bc: 0.0989, il_score: 0.2660, rl_score: 0.2527, prev_frame_loss_waypoint_0: 0.8423, prev_frame_loss_rl_bc_0: 0.1043, loss: 2.4056, grad_norm: 7.2430, il_score_sum: 24.6371, rl_score_sum: 25.1133, score_diff: -0.4762, il_win: 1.7857, rl_win: 2.0714
2025-09-24 00:43:19,414 - mmdet - INFO - Epoch [1][1460/3517]	lr: 5.000e-05, eta: 18:39:01, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.7323, debug_std_frame_0: 1.3998, debug_std_frame_1: 1.4016, debug_std_frame_2: 1.4024, debug_std_frame_3: 1.4000, debug_std_frame_4: 1.4037, debug_std_frame_5: 1.4032, loss_rl: -0.0417, loss_critic: 0.6728, loss_rl_bc: 0.0911, il_score: 0.2720, rl_score: 0.2807, prev_frame_loss_waypoint_0: 0.7763, prev_frame_loss_rl_bc_0: 0.0978, loss: 2.3380, grad_norm: 7.4893, il_score_sum: 24.6371, rl_score_sum: 25.1133, score_diff: -0.4762, il_win: 1.7857, rl_win: 2.0714
2025-09-24 00:43:35,303 - mmdet - INFO - Epoch [1][1480/3517]	lr: 5.000e-05, eta: 18:38:28, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.7084, debug_std_frame_0: 1.2482, debug_std_frame_1: 1.2497, debug_std_frame_2: 1.2489, debug_std_frame_3: 1.2470, debug_std_frame_4: 1.2485, debug_std_frame_5: 1.2527, loss_rl: -0.0134, loss_critic: 0.5544, loss_rl_bc: 0.0872, il_score: 0.2754, rl_score: 0.2577, prev_frame_loss_waypoint_0: 0.7750, prev_frame_loss_rl_bc_0: 0.0951, loss: 2.2159, grad_norm: 8.0535, il_score_sum: 24.6371, rl_score_sum: 25.1133, score_diff: -0.4762, il_win: 1.7857, rl_win: 2.0714
2025-09-24 00:43:51,420 - mmdet - INFO - Epoch [1][1500/3517]	lr: 5.000e-05, eta: 18:38:08, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.7452, debug_std_frame_0: 1.2148, debug_std_frame_1: 1.2163, debug_std_frame_2: 1.2164, debug_std_frame_3: 1.2156, debug_std_frame_4: 1.2163, debug_std_frame_5: 1.2225, loss_rl: -0.0256, loss_critic: 0.5286, loss_rl_bc: 0.0913, il_score: 0.2479, rl_score: 0.2498, prev_frame_loss_waypoint_0: 0.8352, prev_frame_loss_rl_bc_0: 0.1020, loss: 2.2848, grad_norm: 6.3810, il_score_sum: 24.7434, rl_score_sum: 25.1843, score_diff: -0.4409, il_win: 1.8000, rl_win: 2.2667
2025-09-24 00:44:06,997 - mmdet - INFO - Epoch [1][1520/3517]	lr: 5.000e-05, eta: 18:37:19, time: 0.779, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.7529, debug_std_frame_0: 1.3640, debug_std_frame_1: 1.3678, debug_std_frame_2: 1.3659, debug_std_frame_3: 1.3650, debug_std_frame_4: 1.3666, debug_std_frame_5: 1.3689, loss_rl: -0.0433, loss_critic: 0.5768, loss_rl_bc: 0.0904, il_score: 0.2436, rl_score: 0.2585, prev_frame_loss_waypoint_0: 0.7930, prev_frame_loss_rl_bc_0: 0.0976, loss: 2.2755, grad_norm: 7.7967, il_score_sum: 24.7434, rl_score_sum: 25.1843, score_diff: -0.4409, il_win: 1.8000, rl_win: 2.2667
2025-09-24 00:44:22,945 - mmdet - INFO - Epoch [1][1540/3517]	lr: 5.000e-05, eta: 18:36:50, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.7236, debug_std_frame_0: 1.3040, debug_std_frame_1: 1.3057, debug_std_frame_2: 1.3056, debug_std_frame_3: 1.3030, debug_std_frame_4: 1.3047, debug_std_frame_5: 1.3053, loss_rl: -0.0532, loss_critic: 0.6512, loss_rl_bc: 0.0926, il_score: 0.2717, rl_score: 0.2828, prev_frame_loss_waypoint_0: 0.7555, prev_frame_loss_rl_bc_0: 0.0976, loss: 2.2767, grad_norm: 8.5900, il_score_sum: 24.7434, rl_score_sum: 25.1843, score_diff: -0.4409, il_win: 1.8000, rl_win: 2.2667
2025-09-24 00:44:38,886 - mmdet - INFO - Epoch [1][1560/3517]	lr: 5.000e-05, eta: 18:36:22, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.7582, debug_std_frame_0: 1.2668, debug_std_frame_1: 1.2687, debug_std_frame_2: 1.2691, debug_std_frame_3: 1.2660, debug_std_frame_4: 1.2664, debug_std_frame_5: 1.2656, loss_rl: -0.0369, loss_critic: 0.6877, loss_rl_bc: 0.0936, il_score: 0.2870, rl_score: 0.2942, prev_frame_loss_waypoint_0: 0.7866, prev_frame_loss_rl_bc_0: 0.0979, loss: 2.3996, grad_norm: 8.2997, il_score_sum: 24.7434, rl_score_sum: 25.1843, score_diff: -0.4409, il_win: 1.8000, rl_win: 2.2667
2025-09-24 00:44:54,685 - mmdet - INFO - Epoch [1][1580/3517]	lr: 5.000e-05, eta: 18:35:46, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.7539, debug_std_frame_0: 1.2880, debug_std_frame_1: 1.2887, debug_std_frame_2: 1.2879, debug_std_frame_3: 1.2848, debug_std_frame_4: 1.2853, debug_std_frame_5: 1.2847, loss_rl: -0.0664, loss_critic: 0.7616, loss_rl_bc: 0.0924, il_score: 0.2453, rl_score: 0.2694, prev_frame_loss_waypoint_0: 0.7855, prev_frame_loss_rl_bc_0: 0.0984, loss: 2.4347, grad_norm: 7.7136, il_score_sum: 24.7434, rl_score_sum: 25.1843, score_diff: -0.4409, il_win: 1.8000, rl_win: 2.2667
2025-09-24 00:45:10,776 - mmdet - INFO - Epoch [1][1600/3517]	lr: 5.000e-05, eta: 18:35:26, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.7072, debug_std_frame_0: 1.3009, debug_std_frame_1: 1.3024, debug_std_frame_2: 1.2997, debug_std_frame_3: 1.2985, debug_std_frame_4: 1.2987, debug_std_frame_5: 1.2998, loss_rl: -0.0329, loss_critic: 0.6476, loss_rl_bc: 0.0891, il_score: 0.2473, rl_score: 0.2671, prev_frame_loss_waypoint_0: 0.7668, prev_frame_loss_rl_bc_0: 0.0968, loss: 2.2830, grad_norm: 9.3709, il_score_sum: 24.8155, rl_score_sum: 25.3253, score_diff: -0.5098, il_win: 1.8125, rl_win: 2.5000
2025-09-24 00:45:26,437 - mmdet - INFO - Epoch [1][1620/3517]	lr: 5.000e-05, eta: 18:34:44, time: 0.783, data_time: 0.013, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.8431, debug_std_frame_0: 1.3147, debug_std_frame_1: 1.3150, debug_std_frame_2: 1.3125, debug_std_frame_3: 1.3117, debug_std_frame_4: 1.3119, debug_std_frame_5: 1.3129, loss_rl: 0.0170, loss_critic: 0.5589, loss_rl_bc: 0.0989, il_score: 0.2157, rl_score: 0.2218, prev_frame_loss_waypoint_0: 0.8862, prev_frame_loss_rl_bc_0: 0.1034, loss: 2.5201, grad_norm: 8.6995, il_score_sum: 24.8155, rl_score_sum: 25.3253, score_diff: -0.5098, il_win: 1.8125, rl_win: 2.5000
2025-09-24 00:45:42,211 - mmdet - INFO - Epoch [1][1640/3517]	lr: 5.000e-05, eta: 18:34:09, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.7770, debug_std_frame_0: 1.4020, debug_std_frame_1: 1.4033, debug_std_frame_2: 1.3989, debug_std_frame_3: 1.3999, debug_std_frame_4: 1.4026, debug_std_frame_5: 1.4035, loss_rl: 0.0054, loss_critic: 0.5074, loss_rl_bc: 0.0964, il_score: 0.2648, rl_score: 0.2694, prev_frame_loss_waypoint_0: 0.8126, prev_frame_loss_rl_bc_0: 0.1002, loss: 2.3092, grad_norm: 7.5146, il_score_sum: 24.8155, rl_score_sum: 25.3253, score_diff: -0.5098, il_win: 1.8125, rl_win: 2.5000
2025-09-24 00:45:57,895 - mmdet - INFO - Epoch [1][1660/3517]	lr: 5.000e-05, eta: 18:33:29, time: 0.784, data_time: 0.013, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.7819, debug_std_frame_0: 1.3387, debug_std_frame_1: 1.3399, debug_std_frame_2: 1.3373, debug_std_frame_3: 1.3374, debug_std_frame_4: 1.3383, debug_std_frame_5: 1.3393, loss_rl: -0.0211, loss_critic: 0.5365, loss_rl_bc: 0.0938, il_score: 0.2408, rl_score: 0.2588, prev_frame_loss_waypoint_0: 0.8246, prev_frame_loss_rl_bc_0: 0.0996, loss: 2.3271, grad_norm: 7.4633, il_score_sum: 24.8155, rl_score_sum: 25.3253, score_diff: -0.5098, il_win: 1.8125, rl_win: 2.5000
2025-09-24 00:46:13,586 - mmdet - INFO - Epoch [1][1680/3517]	lr: 5.000e-05, eta: 18:32:50, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.7384, debug_std_frame_0: 1.2222, debug_std_frame_1: 1.2200, debug_std_frame_2: 1.2123, debug_std_frame_3: 1.2152, debug_std_frame_4: 1.2116, debug_std_frame_5: 1.2170, loss_rl: -0.0105, loss_critic: 0.5654, loss_rl_bc: 0.0905, il_score: 0.2503, rl_score: 0.2670, prev_frame_loss_waypoint_0: 0.7966, prev_frame_loss_rl_bc_0: 0.0981, loss: 2.2914, grad_norm: 6.4856, il_score_sum: 24.8155, rl_score_sum: 25.3253, score_diff: -0.5098, il_win: 1.8125, rl_win: 2.5000
2025-09-24 00:46:29,773 - mmdet - INFO - Epoch [1][1700/3517]	lr: 5.000e-05, eta: 18:32:36, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.6940, debug_std_frame_0: 1.3829, debug_std_frame_1: 1.3852, debug_std_frame_2: 1.3818, debug_std_frame_3: 1.3790, debug_std_frame_4: 1.3798, debug_std_frame_5: 1.3797, loss_rl: -0.0613, loss_critic: 0.8402, loss_rl_bc: 0.0896, il_score: 0.2614, rl_score: 0.2900, prev_frame_loss_waypoint_0: 0.7725, prev_frame_loss_rl_bc_0: 0.0982, loss: 2.4553, grad_norm: 7.9207, il_score_sum: 24.8062, rl_score_sum: 25.3732, score_diff: -0.5669, il_win: 1.8235, rl_win: 2.7647
2025-09-24 00:46:45,343 - mmdet - INFO - Epoch [1][1720/3517]	lr: 5.000e-05, eta: 18:31:53, time: 0.779, data_time: 0.011, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.6873, debug_std_frame_0: 1.2380, debug_std_frame_1: 1.2394, debug_std_frame_2: 1.2394, debug_std_frame_3: 1.2356, debug_std_frame_4: 1.2368, debug_std_frame_5: 1.2354, loss_rl: -0.0160, loss_critic: 0.5073, loss_rl_bc: 0.0854, il_score: 0.2620, rl_score: 0.2616, prev_frame_loss_waypoint_0: 0.7592, prev_frame_loss_rl_bc_0: 0.0936, loss: 2.1415, grad_norm: 9.2692, il_score_sum: 24.8062, rl_score_sum: 25.3732, score_diff: -0.5669, il_win: 1.8235, rl_win: 2.7647
2025-09-24 00:47:01,040 - mmdet - INFO - Epoch [1][1740/3517]	lr: 5.000e-05, eta: 18:31:16, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.7042, debug_std_frame_0: 1.2376, debug_std_frame_1: 1.2388, debug_std_frame_2: 1.2367, debug_std_frame_3: 1.2338, debug_std_frame_4: 1.2332, debug_std_frame_5: 1.2337, loss_rl: -0.0160, loss_critic: 0.6010, loss_rl_bc: 0.0869, il_score: 0.2555, rl_score: 0.2603, prev_frame_loss_waypoint_0: 0.7712, prev_frame_loss_rl_bc_0: 0.0949, loss: 2.2559, grad_norm: 7.6792, il_score_sum: 24.8062, rl_score_sum: 25.3732, score_diff: -0.5669, il_win: 1.8235, rl_win: 2.7647
2025-09-24 00:47:16,859 - mmdet - INFO - Epoch [1][1760/3517]	lr: 5.000e-05, eta: 18:30:45, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.7119, debug_std_frame_0: 1.2808, debug_std_frame_1: 1.2812, debug_std_frame_2: 1.2781, debug_std_frame_3: 1.2769, debug_std_frame_4: 1.2777, debug_std_frame_5: 1.2793, loss_rl: -0.0198, loss_critic: 0.5016, loss_rl_bc: 0.0887, il_score: 0.2465, rl_score: 0.2445, prev_frame_loss_waypoint_0: 0.7533, prev_frame_loss_rl_bc_0: 0.0957, loss: 2.1443, grad_norm: 6.9519, il_score_sum: 24.8062, rl_score_sum: 25.3732, score_diff: -0.5669, il_win: 1.8235, rl_win: 2.7647
2025-09-24 00:47:32,851 - mmdet - INFO - Epoch [1][1780/3517]	lr: 5.000e-05, eta: 18:30:23, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0153, loss_waypoint: 0.7409, debug_std_frame_0: 1.2575, debug_std_frame_1: 1.2580, debug_std_frame_2: 1.2536, debug_std_frame_3: 1.2510, debug_std_frame_4: 1.2531, debug_std_frame_5: 1.2551, loss_rl: -0.0358, loss_critic: 0.7509, loss_rl_bc: 0.0881, il_score: 0.2387, rl_score: 0.2526, prev_frame_loss_waypoint_0: 0.7875, prev_frame_loss_rl_bc_0: 0.0946, loss: 2.4414, grad_norm: 7.0723, il_score_sum: 24.8062, rl_score_sum: 25.3732, score_diff: -0.5669, il_win: 1.8235, rl_win: 2.7647
2025-09-24 00:47:49,135 - mmdet - INFO - Epoch [1][1800/3517]	lr: 5.000e-05, eta: 18:30:14, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.6967, debug_std_frame_0: 1.3077, debug_std_frame_1: 1.3099, debug_std_frame_2: 1.3042, debug_std_frame_3: 1.2976, debug_std_frame_4: 1.2980, debug_std_frame_5: 1.2973, loss_rl: -0.0596, loss_critic: 0.8718, loss_rl_bc: 0.0898, il_score: 0.2941, rl_score: 0.3127, prev_frame_loss_waypoint_0: 0.7382, prev_frame_loss_rl_bc_0: 0.0962, loss: 2.4433, grad_norm: 8.4445, il_score_sum: 24.8690, rl_score_sum: 25.4433, score_diff: -0.5743, il_win: 1.8333, rl_win: 3.0000
2025-09-24 00:48:04,787 - mmdet - INFO - Epoch [1][1820/3517]	lr: 5.000e-05, eta: 18:29:36, time: 0.783, data_time: 0.013, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.7108, debug_std_frame_0: 1.2187, debug_std_frame_1: 1.2189, debug_std_frame_2: 1.2148, debug_std_frame_3: 1.2125, debug_std_frame_4: 1.2131, debug_std_frame_5: 1.2193, loss_rl: -0.0760, loss_critic: 0.8721, loss_rl_bc: 0.0888, il_score: 0.2655, rl_score: 0.2728, prev_frame_loss_waypoint_0: 0.7651, prev_frame_loss_rl_bc_0: 0.0955, loss: 2.4654, grad_norm: 8.2141, il_score_sum: 24.8690, rl_score_sum: 25.4433, score_diff: -0.5743, il_win: 1.8333, rl_win: 3.0000
2025-09-24 00:48:20,526 - mmdet - INFO - Epoch [1][1840/3517]	lr: 5.000e-05, eta: 18:29:03, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.7904, debug_std_frame_0: 1.2529, debug_std_frame_1: 1.2521, debug_std_frame_2: 1.2467, debug_std_frame_3: 1.2461, debug_std_frame_4: 1.2466, debug_std_frame_5: 1.2533, loss_rl: -0.0263, loss_critic: 0.6724, loss_rl_bc: 0.0965, il_score: 0.2492, rl_score: 0.2572, prev_frame_loss_waypoint_0: 0.8430, prev_frame_loss_rl_bc_0: 0.1023, loss: 2.4890, grad_norm: 6.8666, il_score_sum: 24.8690, rl_score_sum: 25.4433, score_diff: -0.5743, il_win: 1.8333, rl_win: 3.0000
2025-09-24 00:48:36,429 - mmdet - INFO - Epoch [1][1860/3517]	lr: 5.000e-05, eta: 18:28:37, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.7137, debug_std_frame_0: 1.3235, debug_std_frame_1: 1.3249, debug_std_frame_2: 1.3202, debug_std_frame_3: 1.3152, debug_std_frame_4: 1.3153, debug_std_frame_5: 1.3173, loss_rl: -0.0140, loss_critic: 0.5542, loss_rl_bc: 0.0891, il_score: 0.2672, rl_score: 0.2836, prev_frame_loss_waypoint_0: 0.7751, prev_frame_loss_rl_bc_0: 0.0965, loss: 2.2319, grad_norm: 6.7910, il_score_sum: 24.8690, rl_score_sum: 25.4433, score_diff: -0.5743, il_win: 1.8333, rl_win: 3.0000
2025-09-24 00:48:52,230 - mmdet - INFO - Epoch [1][1880/3517]	lr: 5.000e-05, eta: 18:28:07, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.7402, debug_std_frame_0: 1.2247, debug_std_frame_1: 1.2238, debug_std_frame_2: 1.2177, debug_std_frame_3: 1.2157, debug_std_frame_4: 1.2155, debug_std_frame_5: 1.2200, loss_rl: -0.0394, loss_critic: 0.7133, loss_rl_bc: 0.0908, il_score: 0.2782, rl_score: 0.2838, prev_frame_loss_waypoint_0: 0.7728, prev_frame_loss_rl_bc_0: 0.0954, loss: 2.3916, grad_norm: 10.1220, il_score_sum: 24.8690, rl_score_sum: 25.4433, score_diff: -0.5743, il_win: 1.8333, rl_win: 3.0000
2025-09-24 00:49:08,325 - mmdet - INFO - Epoch [1][1900/3517]	lr: 5.000e-05, eta: 18:27:50, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0191, loss_waypoint: 0.6786, debug_std_frame_0: 1.2377, debug_std_frame_1: 1.2370, debug_std_frame_2: 1.2343, debug_std_frame_3: 1.2320, debug_std_frame_4: 1.2338, debug_std_frame_5: 1.2380, loss_rl: -0.0382, loss_critic: 0.7797, loss_rl_bc: 0.0896, il_score: 0.3114, rl_score: 0.2954, prev_frame_loss_waypoint_0: 0.7408, prev_frame_loss_rl_bc_0: 0.0959, loss: 2.3656, grad_norm: 11.0061, il_score_sum: 25.0038, rl_score_sum: 25.5703, score_diff: -0.5665, il_win: 1.8421, rl_win: 3.2105
2025-09-24 00:49:23,837 - mmdet - INFO - Epoch [1][1920/3517]	lr: 5.000e-05, eta: 18:27:08, time: 0.776, data_time: 0.011, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.7564, debug_std_frame_0: 1.2422, debug_std_frame_1: 1.2414, debug_std_frame_2: 1.2414, debug_std_frame_3: 1.2377, debug_std_frame_4: 1.2411, debug_std_frame_5: 1.2495, loss_rl: -0.0280, loss_critic: 0.6218, loss_rl_bc: 0.0950, il_score: 0.2460, rl_score: 0.2410, prev_frame_loss_waypoint_0: 0.7819, prev_frame_loss_rl_bc_0: 0.1004, loss: 2.3517, grad_norm: 13.9430, il_score_sum: 25.0038, rl_score_sum: 25.5703, score_diff: -0.5665, il_win: 1.8421, rl_win: 3.2105
2025-09-24 00:49:39,630 - mmdet - INFO - Epoch [1][1940/3517]	lr: 5.000e-05, eta: 18:26:39, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.6419, debug_std_frame_0: 1.3085, debug_std_frame_1: 1.3091, debug_std_frame_2: 1.3105, debug_std_frame_3: 1.3100, debug_std_frame_4: 1.3134, debug_std_frame_5: 1.3236, loss_rl: -0.0543, loss_critic: 0.7249, loss_rl_bc: 0.0892, il_score: 0.3178, rl_score: 0.2978, prev_frame_loss_waypoint_0: 0.7377, prev_frame_loss_rl_bc_0: 0.0969, loss: 2.2604, grad_norm: 18.5579, il_score_sum: 25.0038, rl_score_sum: 25.5703, score_diff: -0.5665, il_win: 1.8421, rl_win: 3.2105
2025-09-24 00:49:55,460 - mmdet - INFO - Epoch [1][1960/3517]	lr: 5.000e-05, eta: 18:26:11, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.6747, debug_std_frame_0: 1.2628, debug_std_frame_1: 1.2638, debug_std_frame_2: 1.2648, debug_std_frame_3: 1.2663, debug_std_frame_4: 1.2686, debug_std_frame_5: 1.2750, loss_rl: -0.0483, loss_critic: 0.7557, loss_rl_bc: 0.0918, il_score: 0.3311, rl_score: 0.2903, prev_frame_loss_waypoint_0: 0.7204, prev_frame_loss_rl_bc_0: 0.0957, loss: 2.3107, grad_norm: 12.7090, il_score_sum: 25.0038, rl_score_sum: 25.5703, score_diff: -0.5665, il_win: 1.8421, rl_win: 3.2105
2025-09-24 00:50:11,169 - mmdet - INFO - Epoch [1][1980/3517]	lr: 5.000e-05, eta: 18:25:39, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.6960, debug_std_frame_0: 1.2187, debug_std_frame_1: 1.2194, debug_std_frame_2: 1.2176, debug_std_frame_3: 1.2178, debug_std_frame_4: 1.2192, debug_std_frame_5: 1.2254, loss_rl: -0.0126, loss_critic: 0.5329, loss_rl_bc: 0.0872, il_score: 0.2600, rl_score: 0.2617, prev_frame_loss_waypoint_0: 0.7352, prev_frame_loss_rl_bc_0: 0.0945, loss: 2.1541, grad_norm: 16.6815, il_score_sum: 25.0038, rl_score_sum: 25.5703, score_diff: -0.5665, il_win: 1.8421, rl_win: 3.2105
2025-09-24 00:50:27,330 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 00:50:27,330 - mmdet - INFO - Epoch [1][2000/3517]	lr: 5.000e-05, eta: 18:25:25, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.7195, debug_std_frame_0: 1.2295, debug_std_frame_1: 1.2292, debug_std_frame_2: 1.2209, debug_std_frame_3: 1.2186, debug_std_frame_4: 1.2180, debug_std_frame_5: 1.2211, loss_rl: -0.0644, loss_critic: 0.8307, loss_rl_bc: 0.0881, il_score: 0.3017, rl_score: 0.2867, prev_frame_loss_waypoint_0: 0.6961, prev_frame_loss_rl_bc_0: 0.0926, loss: 2.3908, grad_norm: 30.2560, il_score_sum: 25.2103, rl_score_sum: 25.6692, score_diff: -0.4589, il_win: 1.9000, rl_win: 3.4000
2025-09-24 00:50:42,908 - mmdet - INFO - Epoch [1][2020/3517]	lr: 5.000e-05, eta: 18:24:48, time: 0.779, data_time: 0.013, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.6336, debug_std_frame_0: 1.1770, debug_std_frame_1: 1.1787, debug_std_frame_2: 1.1749, debug_std_frame_3: 1.1767, debug_std_frame_4: 1.1803, debug_std_frame_5: 1.1845, loss_rl: -0.0045, loss_critic: 0.5595, loss_rl_bc: 0.0862, il_score: 0.2959, rl_score: 0.2668, prev_frame_loss_waypoint_0: 0.7023, prev_frame_loss_rl_bc_0: 0.0922, loss: 2.0919, grad_norm: 16.9086, il_score_sum: 25.2103, rl_score_sum: 25.6692, score_diff: -0.4589, il_win: 1.9000, rl_win: 3.4000
2025-09-24 00:50:58,595 - mmdet - INFO - Epoch [1][2040/3517]	lr: 5.000e-05, eta: 18:24:16, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0208, loss_waypoint: 0.6193, debug_std_frame_0: 1.1949, debug_std_frame_1: 1.1976, debug_std_frame_2: 1.1881, debug_std_frame_3: 1.1882, debug_std_frame_4: 1.1879, debug_std_frame_5: 1.1913, loss_rl: -0.0432, loss_critic: 0.6715, loss_rl_bc: 0.0875, il_score: 0.2915, rl_score: 0.2856, prev_frame_loss_waypoint_0: 0.6787, prev_frame_loss_rl_bc_0: 0.0935, loss: 2.1280, grad_norm: 22.8604, il_score_sum: 25.2103, rl_score_sum: 25.6692, score_diff: -0.4589, il_win: 1.9000, rl_win: 3.4000
2025-09-24 00:51:14,363 - mmdet - INFO - Epoch [1][2060/3517]	lr: 5.000e-05, eta: 18:23:47, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.6535, debug_std_frame_0: 1.2674, debug_std_frame_1: 1.2703, debug_std_frame_2: 1.2665, debug_std_frame_3: 1.2746, debug_std_frame_4: 1.2767, debug_std_frame_5: 1.2802, loss_rl: -0.0159, loss_critic: 0.6799, loss_rl_bc: 0.0886, il_score: 0.3185, rl_score: 0.2998, prev_frame_loss_waypoint_0: 0.7713, prev_frame_loss_rl_bc_0: 0.1002, loss: 2.2998, grad_norm: 21.1595, il_score_sum: 25.2103, rl_score_sum: 25.6692, score_diff: -0.4589, il_win: 1.9000, rl_win: 3.4000
2025-09-24 00:51:30,068 - mmdet - INFO - Epoch [1][2080/3517]	lr: 5.000e-05, eta: 18:23:16, time: 0.785, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.5634, debug_std_frame_0: 1.1935, debug_std_frame_1: 1.1924, debug_std_frame_2: 1.1920, debug_std_frame_3: 1.2073, debug_std_frame_4: 1.2141, debug_std_frame_5: 1.2196, loss_rl: -0.0490, loss_critic: 0.7840, loss_rl_bc: 0.0842, il_score: 0.3724, rl_score: 0.3209, prev_frame_loss_waypoint_0: 0.6495, prev_frame_loss_rl_bc_0: 0.0917, loss: 2.1482, grad_norm: 30.0522, il_score_sum: 25.2103, rl_score_sum: 25.6692, score_diff: -0.4589, il_win: 1.9000, rl_win: 3.4000
2025-09-24 00:51:46,116 - mmdet - INFO - Epoch [1][2100/3517]	lr: 5.000e-05, eta: 18:22:58, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.6761, debug_std_frame_0: 1.2154, debug_std_frame_1: 1.2130, debug_std_frame_2: 1.2141, debug_std_frame_3: 1.2196, debug_std_frame_4: 1.2250, debug_std_frame_5: 1.2304, loss_rl: -0.0423, loss_critic: 0.6842, loss_rl_bc: 0.0904, il_score: 0.3346, rl_score: 0.3065, prev_frame_loss_waypoint_0: 0.7308, prev_frame_loss_rl_bc_0: 0.0936, loss: 2.2513, grad_norm: 22.5473, il_score_sum: 25.8344, rl_score_sum: 26.0717, score_diff: -0.2373, il_win: 2.1000, rl_win: 3.7000
2025-09-24 00:52:01,733 - mmdet - INFO - Epoch [1][2120/3517]	lr: 5.000e-05, eta: 18:22:24, time: 0.781, data_time: 0.011, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.6853, debug_std_frame_0: 1.2133, debug_std_frame_1: 1.2128, debug_std_frame_2: 1.2071, debug_std_frame_3: 1.2131, debug_std_frame_4: 1.2143, debug_std_frame_5: 1.2111, loss_rl: -0.0088, loss_critic: 0.5884, loss_rl_bc: 0.0941, il_score: 0.3258, rl_score: 0.2542, prev_frame_loss_waypoint_0: 0.7575, prev_frame_loss_rl_bc_0: 0.0985, loss: 2.2367, grad_norm: 26.3295, il_score_sum: 25.8344, rl_score_sum: 26.0717, score_diff: -0.2373, il_win: 2.1000, rl_win: 3.7000
2025-09-24 00:52:17,457 - mmdet - INFO - Epoch [1][2140/3517]	lr: 5.000e-05, eta: 18:21:55, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0204, loss_waypoint: 0.6693, debug_std_frame_0: 1.2479, debug_std_frame_1: 1.2491, debug_std_frame_2: 1.2454, debug_std_frame_3: 1.2547, debug_std_frame_4: 1.2582, debug_std_frame_5: 1.2626, loss_rl: -0.0597, loss_critic: 0.7219, loss_rl_bc: 0.0878, il_score: 0.3261, rl_score: 0.3059, prev_frame_loss_waypoint_0: 0.6897, prev_frame_loss_rl_bc_0: 0.0935, loss: 2.2228, grad_norm: 24.1691, il_score_sum: 25.8344, rl_score_sum: 26.0717, score_diff: -0.2373, il_win: 2.1000, rl_win: 3.7000
2025-09-24 00:52:33,155 - mmdet - INFO - Epoch [1][2160/3517]	lr: 5.000e-05, eta: 18:21:24, time: 0.785, data_time: 0.011, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.5535, debug_std_frame_0: 1.0544, debug_std_frame_1: 1.0542, debug_std_frame_2: 1.0489, debug_std_frame_3: 1.0612, debug_std_frame_4: 1.0623, debug_std_frame_5: 1.0714, loss_rl: -0.0540, loss_critic: 0.7589, loss_rl_bc: 0.0794, il_score: 0.3688, rl_score: 0.3403, prev_frame_loss_waypoint_0: 0.5555, prev_frame_loss_rl_bc_0: 0.0856, loss: 1.9985, grad_norm: 25.3344, il_score_sum: 25.8344, rl_score_sum: 26.0717, score_diff: -0.2373, il_win: 2.1000, rl_win: 3.7000
2025-09-24 00:52:49,078 - mmdet - INFO - Epoch [1][2180/3517]	lr: 5.000e-05, eta: 18:21:02, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0173, loss_waypoint: 0.5908, debug_std_frame_0: 1.0504, debug_std_frame_1: 1.0500, debug_std_frame_2: 1.0470, debug_std_frame_3: 1.0611, debug_std_frame_4: 1.0639, debug_std_frame_5: 1.0748, loss_rl: -0.0545, loss_critic: 0.7046, loss_rl_bc: 0.0797, il_score: 0.3331, rl_score: 0.3136, prev_frame_loss_waypoint_0: 0.6081, prev_frame_loss_rl_bc_0: 0.0844, loss: 2.0306, grad_norm: 23.9897, il_score_sum: 25.8344, rl_score_sum: 26.0717, score_diff: -0.2373, il_win: 2.1000, rl_win: 3.7000
2025-09-24 00:53:05,226 - mmdet - INFO - Epoch [1][2200/3517]	lr: 5.000e-05, eta: 18:20:49, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.5664, debug_std_frame_0: 1.0742, debug_std_frame_1: 1.0749, debug_std_frame_2: 1.0752, debug_std_frame_3: 1.0931, debug_std_frame_4: 1.0977, debug_std_frame_5: 1.1096, loss_rl: -0.0402, loss_critic: 0.8172, loss_rl_bc: 0.0798, il_score: 0.3463, rl_score: 0.3125, prev_frame_loss_waypoint_0: 0.6192, prev_frame_loss_rl_bc_0: 0.0865, loss: 2.1445, grad_norm: 18.6853, il_score_sum: 26.4591, rl_score_sum: 26.5915, score_diff: -0.1324, il_win: 2.3000, rl_win: 4.0000
2025-09-24 00:53:20,992 - mmdet - INFO - Epoch [1][2220/3517]	lr: 5.000e-05, eta: 18:20:22, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0179, loss_waypoint: 0.5747, debug_std_frame_0: 1.1196, debug_std_frame_1: 1.1193, debug_std_frame_2: 1.1172, debug_std_frame_3: 1.1188, debug_std_frame_4: 1.1189, debug_std_frame_5: 1.1229, loss_rl: -0.0585, loss_critic: 0.7725, loss_rl_bc: 0.0841, il_score: 0.3753, rl_score: 0.3313, prev_frame_loss_waypoint_0: 0.5895, prev_frame_loss_rl_bc_0: 0.0863, loss: 2.0664, grad_norm: 26.3113, il_score_sum: 26.4591, rl_score_sum: 26.5915, score_diff: -0.1324, il_win: 2.3000, rl_win: 4.0000
2025-09-24 00:53:36,826 - mmdet - INFO - Epoch [1][2240/3517]	lr: 5.000e-05, eta: 18:19:58, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.5315, debug_std_frame_0: 1.0242, debug_std_frame_1: 1.0243, debug_std_frame_2: 1.0193, debug_std_frame_3: 1.0303, debug_std_frame_4: 1.0303, debug_std_frame_5: 1.0377, loss_rl: -0.0724, loss_critic: 0.8958, loss_rl_bc: 0.0799, il_score: 0.4097, rl_score: 0.3909, prev_frame_loss_waypoint_0: 0.6032, prev_frame_loss_rl_bc_0: 0.0888, loss: 2.1468, grad_norm: 31.7566, il_score_sum: 26.4591, rl_score_sum: 26.5915, score_diff: -0.1324, il_win: 2.3000, rl_win: 4.0000
2025-09-24 00:53:52,693 - mmdet - INFO - Epoch [1][2260/3517]	lr: 5.000e-05, eta: 18:19:34, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.5189, debug_std_frame_0: 0.9914, debug_std_frame_1: 0.9926, debug_std_frame_2: 0.9876, debug_std_frame_3: 1.0017, debug_std_frame_4: 1.0022, debug_std_frame_5: 1.0094, loss_rl: -0.0732, loss_critic: 0.9528, loss_rl_bc: 0.0773, il_score: 0.4110, rl_score: 0.3776, prev_frame_loss_waypoint_0: 0.5937, prev_frame_loss_rl_bc_0: 0.0830, loss: 2.1727, grad_norm: 30.4332, il_score_sum: 26.4591, rl_score_sum: 26.5915, score_diff: -0.1324, il_win: 2.3000, rl_win: 4.0000
2025-09-24 00:54:08,652 - mmdet - INFO - Epoch [1][2280/3517]	lr: 5.000e-05, eta: 18:19:15, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0188, loss_waypoint: 0.5998, debug_std_frame_0: 1.0938, debug_std_frame_1: 1.0973, debug_std_frame_2: 1.0985, debug_std_frame_3: 1.1229, debug_std_frame_4: 1.1285, debug_std_frame_5: 1.1399, loss_rl: -0.0354, loss_critic: 0.7569, loss_rl_bc: 0.0897, il_score: 0.3623, rl_score: 0.3132, prev_frame_loss_waypoint_0: 0.6823, prev_frame_loss_rl_bc_0: 0.0949, loss: 2.2070, grad_norm: 29.5217, il_score_sum: 26.4591, rl_score_sum: 26.5915, score_diff: -0.1324, il_win: 2.3000, rl_win: 4.0000
2025-09-24 00:54:24,705 - mmdet - INFO - Epoch [1][2300/3517]	lr: 5.000e-05, eta: 18:18:58, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.5376, debug_std_frame_0: 1.1395, debug_std_frame_1: 1.1475, debug_std_frame_2: 1.1500, debug_std_frame_3: 1.1796, debug_std_frame_4: 1.1842, debug_std_frame_5: 1.1995, loss_rl: -0.0347, loss_critic: 0.9125, loss_rl_bc: 0.0785, il_score: 0.3673, rl_score: 0.3265, prev_frame_loss_waypoint_0: 0.6095, prev_frame_loss_rl_bc_0: 0.0878, loss: 2.2087, grad_norm: 26.7065, il_score_sum: 27.1360, rl_score_sum: 27.2136, score_diff: -0.0776, il_win: 2.5000, rl_win: 4.3000
2025-09-24 00:54:40,194 - mmdet - INFO - Epoch [1][2320/3517]	lr: 5.000e-05, eta: 18:18:22, time: 0.775, data_time: 0.011, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.5005, debug_std_frame_0: 1.0478, debug_std_frame_1: 1.0501, debug_std_frame_2: 1.0494, debug_std_frame_3: 1.0645, debug_std_frame_4: 1.0686, debug_std_frame_5: 1.0767, loss_rl: -0.0504, loss_critic: 0.9499, loss_rl_bc: 0.0814, il_score: 0.4326, rl_score: 0.3567, prev_frame_loss_waypoint_0: 0.5306, prev_frame_loss_rl_bc_0: 0.0849, loss: 2.1128, grad_norm: 29.2553, il_score_sum: 27.1360, rl_score_sum: 27.2136, score_diff: -0.0776, il_win: 2.5000, rl_win: 4.3000
2025-09-24 00:54:55,907 - mmdet - INFO - Epoch [1][2340/3517]	lr: 5.000e-05, eta: 18:17:54, time: 0.786, data_time: 0.013, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.5031, debug_std_frame_0: 0.9868, debug_std_frame_1: 0.9873, debug_std_frame_2: 0.9872, debug_std_frame_3: 0.9995, debug_std_frame_4: 1.0027, debug_std_frame_5: 1.0114, loss_rl: -0.0668, loss_critic: 0.9266, loss_rl_bc: 0.0753, il_score: 0.3972, rl_score: 0.3709, prev_frame_loss_waypoint_0: 0.6062, prev_frame_loss_rl_bc_0: 0.0867, loss: 2.1483, grad_norm: 34.2332, il_score_sum: 27.1360, rl_score_sum: 27.2136, score_diff: -0.0776, il_win: 2.5000, rl_win: 4.3000
2025-09-24 00:55:11,583 - mmdet - INFO - Epoch [1][2360/3517]	lr: 5.000e-05, eta: 18:17:25, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.5951, debug_std_frame_0: 1.0235, debug_std_frame_1: 1.0278, debug_std_frame_2: 1.0319, debug_std_frame_3: 1.0512, debug_std_frame_4: 1.0560, debug_std_frame_5: 1.0656, loss_rl: -0.0137, loss_critic: 0.6609, loss_rl_bc: 0.0824, il_score: 0.3480, rl_score: 0.2955, prev_frame_loss_waypoint_0: 0.6512, prev_frame_loss_rl_bc_0: 0.0887, loss: 2.0824, grad_norm: 32.2721, il_score_sum: 27.1360, rl_score_sum: 27.2136, score_diff: -0.0776, il_win: 2.5000, rl_win: 4.3000
2025-09-24 00:55:27,424 - mmdet - INFO - Epoch [1][2380/3517]	lr: 5.000e-05, eta: 18:17:01, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0164, loss_waypoint: 0.5610, debug_std_frame_0: 1.0443, debug_std_frame_1: 1.0510, debug_std_frame_2: 1.0536, debug_std_frame_3: 1.0765, debug_std_frame_4: 1.0803, debug_std_frame_5: 1.0903, loss_rl: -0.0497, loss_critic: 0.7320, loss_rl_bc: 0.0798, il_score: 0.3435, rl_score: 0.3345, prev_frame_loss_waypoint_0: 0.6031, prev_frame_loss_rl_bc_0: 0.0848, loss: 2.0273, grad_norm: 25.8886, il_score_sum: 27.1360, rl_score_sum: 27.2136, score_diff: -0.0776, il_win: 2.5000, rl_win: 4.3000
2025-09-24 00:55:43,386 - mmdet - INFO - Epoch [1][2400/3517]	lr: 5.000e-05, eta: 18:16:42, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0186, loss_waypoint: 0.5312, debug_std_frame_0: 0.9900, debug_std_frame_1: 0.9955, debug_std_frame_2: 0.9969, debug_std_frame_3: 1.0166, debug_std_frame_4: 1.0219, debug_std_frame_5: 1.0324, loss_rl: -0.0467, loss_critic: 0.7685, loss_rl_bc: 0.0793, il_score: 0.4034, rl_score: 0.3407, prev_frame_loss_waypoint_0: 0.5490, prev_frame_loss_rl_bc_0: 0.0846, loss: 1.9845, grad_norm: 32.1216, il_score_sum: 27.7329, rl_score_sum: 27.6221, score_diff: 0.1109, il_win: 2.7500, rl_win: 4.6000
2025-09-24 00:55:59,014 - mmdet - INFO - Epoch [1][2420/3517]	lr: 5.000e-05, eta: 18:16:12, time: 0.782, data_time: 0.013, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.6039, debug_std_frame_0: 1.0659, debug_std_frame_1: 1.0681, debug_std_frame_2: 1.0692, debug_std_frame_3: 1.0830, debug_std_frame_4: 1.0872, debug_std_frame_5: 1.0965, loss_rl: -0.0277, loss_critic: 0.6586, loss_rl_bc: 0.0842, il_score: 0.3170, rl_score: 0.3093, prev_frame_loss_waypoint_0: 0.6034, prev_frame_loss_rl_bc_0: 0.0891, loss: 2.0285, grad_norm: 29.5477, il_score_sum: 27.7329, rl_score_sum: 27.6221, score_diff: 0.1109, il_win: 2.7500, rl_win: 4.6000
2025-09-24 00:56:14,957 - mmdet - INFO - Epoch [1][2440/3517]	lr: 5.000e-05, eta: 18:15:53, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.5369, debug_std_frame_0: 1.1283, debug_std_frame_1: 1.1351, debug_std_frame_2: 1.1369, debug_std_frame_3: 1.1612, debug_std_frame_4: 1.1651, debug_std_frame_5: 1.1747, loss_rl: -0.0705, loss_critic: 0.8713, loss_rl_bc: 0.0846, il_score: 0.3903, rl_score: 0.3646, prev_frame_loss_waypoint_0: 0.6370, prev_frame_loss_rl_bc_0: 0.0897, loss: 2.1649, grad_norm: 38.4782, il_score_sum: 27.7329, rl_score_sum: 27.6221, score_diff: 0.1109, il_win: 2.7500, rl_win: 4.6000
2025-09-24 00:56:30,848 - mmdet - INFO - Epoch [1][2460/3517]	lr: 5.000e-05, eta: 18:15:31, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.5619, debug_std_frame_0: 1.0870, debug_std_frame_1: 1.0967, debug_std_frame_2: 1.1038, debug_std_frame_3: 1.1349, debug_std_frame_4: 1.1456, debug_std_frame_5: 1.1581, loss_rl: -0.0548, loss_critic: 0.7389, loss_rl_bc: 0.0815, il_score: 0.3851, rl_score: 0.3190, prev_frame_loss_waypoint_0: 0.5861, prev_frame_loss_rl_bc_0: 0.0856, loss: 2.0149, grad_norm: 24.2613, il_score_sum: 27.7329, rl_score_sum: 27.6221, score_diff: 0.1109, il_win: 2.7500, rl_win: 4.6000
2025-09-24 00:56:46,655 - mmdet - INFO - Epoch [1][2480/3517]	lr: 5.000e-05, eta: 18:15:08, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0191, loss_waypoint: 0.5512, debug_std_frame_0: 0.9874, debug_std_frame_1: 0.9948, debug_std_frame_2: 0.9978, debug_std_frame_3: 1.0190, debug_std_frame_4: 1.0264, debug_std_frame_5: 1.0374, loss_rl: -0.0835, loss_critic: 0.9605, loss_rl_bc: 0.0830, il_score: 0.3907, rl_score: 0.3622, prev_frame_loss_waypoint_0: 0.5634, prev_frame_loss_rl_bc_0: 0.0853, loss: 2.1789, grad_norm: 29.1495, il_score_sum: 27.7329, rl_score_sum: 27.6221, score_diff: 0.1109, il_win: 2.7500, rl_win: 4.6000
2025-09-24 00:57:02,674 - mmdet - INFO - Epoch [1][2500/3517]	lr: 5.000e-05, eta: 18:14:51, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0179, loss_waypoint: 0.5711, debug_std_frame_0: 1.0458, debug_std_frame_1: 1.0537, debug_std_frame_2: 1.0571, debug_std_frame_3: 1.0799, debug_std_frame_4: 1.0871, debug_std_frame_5: 1.0984, loss_rl: -0.0769, loss_critic: 0.7804, loss_rl_bc: 0.0822, il_score: 0.3680, rl_score: 0.3509, prev_frame_loss_waypoint_0: 0.5329, prev_frame_loss_rl_bc_0: 0.0815, loss: 1.9890, grad_norm: 31.1381, il_score_sum: 28.3678, rl_score_sum: 28.0661, score_diff: 0.3016, il_win: 3.0500, rl_win: 4.9000
2025-09-24 00:57:18,458 - mmdet - INFO - Epoch [1][2520/3517]	lr: 5.000e-05, eta: 18:14:26, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.4654, debug_std_frame_0: 0.9839, debug_std_frame_1: 0.9869, debug_std_frame_2: 0.9873, debug_std_frame_3: 1.0048, debug_std_frame_4: 1.0103, debug_std_frame_5: 1.0204, loss_rl: -0.0729, loss_critic: 0.9380, loss_rl_bc: 0.0734, il_score: 0.4161, rl_score: 0.3729, prev_frame_loss_waypoint_0: 0.5042, prev_frame_loss_rl_bc_0: 0.0799, loss: 2.0054, grad_norm: 41.7655, il_score_sum: 28.3678, rl_score_sum: 28.0661, score_diff: 0.3016, il_win: 3.0500, rl_win: 4.9000
2025-09-24 00:57:34,293 - mmdet - INFO - Epoch [1][2540/3517]	lr: 5.000e-05, eta: 18:14:04, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.5025, debug_std_frame_0: 0.9289, debug_std_frame_1: 0.9317, debug_std_frame_2: 0.9320, debug_std_frame_3: 0.9483, debug_std_frame_4: 0.9527, debug_std_frame_5: 0.9626, loss_rl: -0.1050, loss_critic: 1.0665, loss_rl_bc: 0.0753, il_score: 0.3720, rl_score: 0.3815, prev_frame_loss_waypoint_0: 0.5448, prev_frame_loss_rl_bc_0: 0.0798, loss: 2.1809, grad_norm: 30.0520, il_score_sum: 28.3678, rl_score_sum: 28.0661, score_diff: 0.3016, il_win: 3.0500, rl_win: 4.9000
2025-09-24 00:57:50,131 - mmdet - INFO - Epoch [1][2560/3517]	lr: 5.000e-05, eta: 18:13:42, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.5483, debug_std_frame_0: 0.9966, debug_std_frame_1: 0.9996, debug_std_frame_2: 1.0009, debug_std_frame_3: 1.0176, debug_std_frame_4: 1.0220, debug_std_frame_5: 1.0320, loss_rl: -0.0879, loss_critic: 0.9654, loss_rl_bc: 0.0810, il_score: 0.3765, rl_score: 0.3377, prev_frame_loss_waypoint_0: 0.6193, prev_frame_loss_rl_bc_0: 0.0884, loss: 2.2303, grad_norm: 26.6476, il_score_sum: 28.3678, rl_score_sum: 28.0661, score_diff: 0.3016, il_win: 3.0500, rl_win: 4.9000
2025-09-24 00:58:05,845 - mmdet - INFO - Epoch [1][2580/3517]	lr: 5.000e-05, eta: 18:13:15, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.5192, debug_std_frame_0: 1.0363, debug_std_frame_1: 1.0407, debug_std_frame_2: 1.0453, debug_std_frame_3: 1.0669, debug_std_frame_4: 1.0710, debug_std_frame_5: 1.0813, loss_rl: -0.0774, loss_critic: 0.9293, loss_rl_bc: 0.0766, il_score: 0.3862, rl_score: 0.3488, prev_frame_loss_waypoint_0: 0.5567, prev_frame_loss_rl_bc_0: 0.0831, loss: 2.1021, grad_norm: 29.8986, il_score_sum: 28.3678, rl_score_sum: 28.0661, score_diff: 0.3016, il_win: 3.0500, rl_win: 4.9000
2025-09-24 00:58:22,066 - mmdet - INFO - Epoch [1][2600/3517]	lr: 5.000e-05, eta: 18:13:05, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0163, loss_waypoint: 0.5297, debug_std_frame_0: 0.9686, debug_std_frame_1: 0.9717, debug_std_frame_2: 0.9764, debug_std_frame_3: 0.9989, debug_std_frame_4: 1.0032, debug_std_frame_5: 1.0151, loss_rl: -0.0762, loss_critic: 0.8848, loss_rl_bc: 0.0787, il_score: 0.3944, rl_score: 0.3711, prev_frame_loss_waypoint_0: 0.5666, prev_frame_loss_rl_bc_0: 0.0827, loss: 2.0826, grad_norm: 35.1295, il_score_sum: 29.0962, rl_score_sum: 28.6039, score_diff: 0.4923, il_win: 3.4000, rl_win: 5.1500
2025-09-24 00:58:37,953 - mmdet - INFO - Epoch [1][2620/3517]	lr: 5.000e-05, eta: 18:12:45, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0151, loss_waypoint: 0.5461, debug_std_frame_0: 1.0083, debug_std_frame_1: 1.0124, debug_std_frame_2: 1.0152, debug_std_frame_3: 1.0369, debug_std_frame_4: 1.0435, debug_std_frame_5: 1.0519, loss_rl: -0.0347, loss_critic: 0.6698, loss_rl_bc: 0.0795, il_score: 0.3794, rl_score: 0.3072, prev_frame_loss_waypoint_0: 0.6251, prev_frame_loss_rl_bc_0: 0.0862, loss: 1.9871, grad_norm: 32.3596, il_score_sum: 29.0962, rl_score_sum: 28.6039, score_diff: 0.4923, il_win: 3.4000, rl_win: 5.1500
2025-09-24 00:58:53,605 - mmdet - INFO - Epoch [1][2640/3517]	lr: 5.000e-05, eta: 18:12:17, time: 0.783, data_time: 0.011, memory: 8550, loss_rec: 0.0134, loss_waypoint: 0.6019, debug_std_frame_0: 1.0771, debug_std_frame_1: 1.0805, debug_std_frame_2: 1.0834, debug_std_frame_3: 1.1054, debug_std_frame_4: 1.1121, debug_std_frame_5: 1.1190, loss_rl: -0.0533, loss_critic: 0.9020, loss_rl_bc: 0.0814, il_score: 0.3282, rl_score: 0.3196, prev_frame_loss_waypoint_0: 0.6505, prev_frame_loss_rl_bc_0: 0.0886, loss: 2.2845, grad_norm: 28.5009, il_score_sum: 29.0962, rl_score_sum: 28.6039, score_diff: 0.4923, il_win: 3.4000, rl_win: 5.1500
2025-09-24 00:59:09,524 - mmdet - INFO - Epoch [1][2660/3517]	lr: 5.000e-05, eta: 18:11:57, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.5623, debug_std_frame_0: 1.1289, debug_std_frame_1: 1.1333, debug_std_frame_2: 1.1352, debug_std_frame_3: 1.1568, debug_std_frame_4: 1.1620, debug_std_frame_5: 1.1704, loss_rl: -0.0918, loss_critic: 0.9156, loss_rl_bc: 0.0810, il_score: 0.3867, rl_score: 0.3466, prev_frame_loss_waypoint_0: 0.6018, prev_frame_loss_rl_bc_0: 0.0869, loss: 2.1701, grad_norm: 28.8102, il_score_sum: 29.0962, rl_score_sum: 28.6039, score_diff: 0.4923, il_win: 3.4000, rl_win: 5.1500
2025-09-24 00:59:25,572 - mmdet - INFO - Epoch [1][2680/3517]	lr: 5.000e-05, eta: 18:11:42, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.5380, debug_std_frame_0: 1.0111, debug_std_frame_1: 1.0150, debug_std_frame_2: 1.0184, debug_std_frame_3: 1.0461, debug_std_frame_4: 1.0533, debug_std_frame_5: 1.0621, loss_rl: -0.1055, loss_critic: 0.9244, loss_rl_bc: 0.0786, il_score: 0.4072, rl_score: 0.3709, prev_frame_loss_waypoint_0: 0.5671, prev_frame_loss_rl_bc_0: 0.0791, loss: 2.0963, grad_norm: 28.6438, il_score_sum: 29.0962, rl_score_sum: 28.6039, score_diff: 0.4923, il_win: 3.4000, rl_win: 5.1500
2025-09-24 00:59:41,808 - mmdet - INFO - Epoch [1][2700/3517]	lr: 5.000e-05, eta: 18:11:32, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.5523, debug_std_frame_0: 0.9741, debug_std_frame_1: 0.9797, debug_std_frame_2: 0.9818, debug_std_frame_3: 1.0075, debug_std_frame_4: 1.0148, debug_std_frame_5: 1.0245, loss_rl: -0.0964, loss_critic: 1.1365, loss_rl_bc: 0.0796, il_score: 0.3587, rl_score: 0.3827, prev_frame_loss_waypoint_0: 0.5787, prev_frame_loss_rl_bc_0: 0.0810, loss: 2.3452, grad_norm: 31.8492, il_score_sum: 29.6558, rl_score_sum: 28.9811, score_diff: 0.6747, il_win: 3.8000, rl_win: 5.4000
2025-09-24 00:59:57,341 - mmdet - INFO - Epoch [1][2720/3517]	lr: 5.000e-05, eta: 18:11:01, time: 0.777, data_time: 0.011, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.5823, debug_std_frame_0: 1.0089, debug_std_frame_1: 1.0116, debug_std_frame_2: 1.0104, debug_std_frame_3: 1.0276, debug_std_frame_4: 1.0351, debug_std_frame_5: 1.0423, loss_rl: -0.0690, loss_critic: 1.0304, loss_rl_bc: 0.0801, il_score: 0.3679, rl_score: 0.3720, prev_frame_loss_waypoint_0: 0.6136, prev_frame_loss_rl_bc_0: 0.0899, loss: 2.3414, grad_norm: 24.9148, il_score_sum: 29.6558, rl_score_sum: 28.9811, score_diff: 0.6747, il_win: 3.8000, rl_win: 5.4000
2025-09-24 01:00:13,100 - mmdet - INFO - Epoch [1][2740/3517]	lr: 5.000e-05, eta: 18:10:37, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.5654, debug_std_frame_0: 1.0978, debug_std_frame_1: 1.1013, debug_std_frame_2: 1.1009, debug_std_frame_3: 1.1175, debug_std_frame_4: 1.1233, debug_std_frame_5: 1.1301, loss_rl: -0.0543, loss_critic: 0.8237, loss_rl_bc: 0.0830, il_score: 0.3539, rl_score: 0.3345, prev_frame_loss_waypoint_0: 0.5900, prev_frame_loss_rl_bc_0: 0.0894, loss: 2.1127, grad_norm: 26.9956, il_score_sum: 29.6558, rl_score_sum: 28.9811, score_diff: 0.6747, il_win: 3.8000, rl_win: 5.4000
2025-09-24 01:00:28,991 - mmdet - INFO - Epoch [1][2760/3517]	lr: 5.000e-05, eta: 18:10:17, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0153, loss_waypoint: 0.4923, debug_std_frame_0: 1.0151, debug_std_frame_1: 1.0188, debug_std_frame_2: 1.0174, debug_std_frame_3: 1.0322, debug_std_frame_4: 1.0382, debug_std_frame_5: 1.0460, loss_rl: -0.0849, loss_critic: 0.9425, loss_rl_bc: 0.0748, il_score: 0.4404, rl_score: 0.4002, prev_frame_loss_waypoint_0: 0.5291, prev_frame_loss_rl_bc_0: 0.0782, loss: 2.0473, grad_norm: 30.7924, il_score_sum: 29.6558, rl_score_sum: 28.9811, score_diff: 0.6747, il_win: 3.8000, rl_win: 5.4000
2025-09-24 01:00:44,843 - mmdet - INFO - Epoch [1][2780/3517]	lr: 5.000e-05, eta: 18:09:56, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.5198, debug_std_frame_0: 0.9505, debug_std_frame_1: 0.9550, debug_std_frame_2: 0.9559, debug_std_frame_3: 0.9729, debug_std_frame_4: 0.9793, debug_std_frame_5: 0.9904, loss_rl: -0.0734, loss_critic: 1.0343, loss_rl_bc: 0.0788, il_score: 0.3908, rl_score: 0.3813, prev_frame_loss_waypoint_0: 0.5503, prev_frame_loss_rl_bc_0: 0.0809, loss: 2.2066, grad_norm: 29.6311, il_score_sum: 29.6558, rl_score_sum: 28.9811, score_diff: 0.6747, il_win: 3.8000, rl_win: 5.4000
2025-09-24 01:01:00,937 - mmdet - INFO - Epoch [1][2800/3517]	lr: 5.000e-05, eta: 18:09:42, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.4626, debug_std_frame_0: 0.9669, debug_std_frame_1: 0.9706, debug_std_frame_2: 0.9723, debug_std_frame_3: 0.9922, debug_std_frame_4: 0.9987, debug_std_frame_5: 1.0085, loss_rl: -0.0609, loss_critic: 0.8822, loss_rl_bc: 0.0747, il_score: 0.4514, rl_score: 0.3757, prev_frame_loss_waypoint_0: 0.5108, prev_frame_loss_rl_bc_0: 0.0787, loss: 1.9617, grad_norm: 34.6726, il_score_sum: 30.4108, rl_score_sum: 29.5492, score_diff: 0.8616, il_win: 4.2500, rl_win: 5.6500
2025-09-24 01:01:16,577 - mmdet - INFO - Epoch [1][2820/3517]	lr: 5.000e-05, eta: 18:09:15, time: 0.782, data_time: 0.013, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.5198, debug_std_frame_0: 0.9467, debug_std_frame_1: 0.9514, debug_std_frame_2: 0.9524, debug_std_frame_3: 0.9723, debug_std_frame_4: 0.9791, debug_std_frame_5: 0.9894, loss_rl: -0.0957, loss_critic: 1.0308, loss_rl_bc: 0.0744, il_score: 0.3745, rl_score: 0.3555, prev_frame_loss_waypoint_0: 0.5880, prev_frame_loss_rl_bc_0: 0.0795, loss: 2.2092, grad_norm: 78.8457, il_score_sum: 30.4108, rl_score_sum: 29.5492, score_diff: 0.8616, il_win: 4.2500, rl_win: 5.6500
2025-09-24 01:01:32,453 - mmdet - INFO - Epoch [1][2840/3517]	lr: 5.000e-05, eta: 18:08:55, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.4525, debug_std_frame_0: 0.8906, debug_std_frame_1: 0.8954, debug_std_frame_2: 0.8961, debug_std_frame_3: 0.9166, debug_std_frame_4: 0.9237, debug_std_frame_5: 0.9348, loss_rl: -0.0924, loss_critic: 1.0780, loss_rl_bc: 0.0701, il_score: 0.3986, rl_score: 0.3806, prev_frame_loss_waypoint_0: 0.5043, prev_frame_loss_rl_bc_0: 0.0784, loss: 2.1052, grad_norm: 26.0161, il_score_sum: 30.4108, rl_score_sum: 29.5492, score_diff: 0.8616, il_win: 4.2500, rl_win: 5.6500
2025-09-24 01:01:48,401 - mmdet - INFO - Epoch [1][2860/3517]	lr: 5.000e-05, eta: 18:08:37, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.4673, debug_std_frame_0: 0.8977, debug_std_frame_1: 0.9015, debug_std_frame_2: 0.9037, debug_std_frame_3: 0.9264, debug_std_frame_4: 0.9349, debug_std_frame_5: 0.9476, loss_rl: -0.0751, loss_critic: 1.0787, loss_rl_bc: 0.0727, il_score: 0.4393, rl_score: 0.4014, prev_frame_loss_waypoint_0: 0.5229, prev_frame_loss_rl_bc_0: 0.0788, loss: 2.1584, grad_norm: 23.5285, il_score_sum: 30.4108, rl_score_sum: 29.5492, score_diff: 0.8616, il_win: 4.2500, rl_win: 5.6500
2025-09-24 01:02:04,327 - mmdet - INFO - Epoch [1][2880/3517]	lr: 5.000e-05, eta: 18:08:18, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.5318, debug_std_frame_0: 0.8578, debug_std_frame_1: 0.8614, debug_std_frame_2: 0.8635, debug_std_frame_3: 0.8844, debug_std_frame_4: 0.8944, debug_std_frame_5: 0.9058, loss_rl: -0.1199, loss_critic: 1.1038, loss_rl_bc: 0.0744, il_score: 0.3627, rl_score: 0.3884, prev_frame_loss_waypoint_0: 0.5691, prev_frame_loss_rl_bc_0: 0.0763, loss: 2.2480, grad_norm: 26.5707, il_score_sum: 30.4108, rl_score_sum: 29.5492, score_diff: 0.8616, il_win: 4.2500, rl_win: 5.6500
2025-09-24 01:02:20,665 - mmdet - INFO - Epoch [1][2900/3517]	lr: 5.000e-05, eta: 18:08:11, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.5069, debug_std_frame_0: 0.9934, debug_std_frame_1: 0.9977, debug_std_frame_2: 1.0026, debug_std_frame_3: 1.0263, debug_std_frame_4: 1.0374, debug_std_frame_5: 1.0494, loss_rl: -0.1280, loss_critic: 1.2129, loss_rl_bc: 0.0784, il_score: 0.4163, rl_score: 0.4040, prev_frame_loss_waypoint_0: 0.5714, prev_frame_loss_rl_bc_0: 0.0825, loss: 2.3357, grad_norm: 23.5116, il_score_sum: 31.0574, rl_score_sum: 30.1063, score_diff: 0.9511, il_win: 4.7500, rl_win: 5.9000
2025-09-24 01:02:36,569 - mmdet - INFO - Epoch [1][2920/3517]	lr: 5.000e-05, eta: 18:07:51, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0120, loss_waypoint: 0.4733, debug_std_frame_0: 0.9721, debug_std_frame_1: 0.9711, debug_std_frame_2: 0.9681, debug_std_frame_3: 0.9819, debug_std_frame_4: 0.9896, debug_std_frame_5: 0.9979, loss_rl: -0.0927, loss_critic: 1.0206, loss_rl_bc: 0.0708, il_score: 0.4277, rl_score: 0.3923, prev_frame_loss_waypoint_0: 0.4947, prev_frame_loss_rl_bc_0: 0.0729, loss: 2.0515, grad_norm: 22.5032, il_score_sum: 31.0574, rl_score_sum: 30.1063, score_diff: 0.9511, il_win: 4.7500, rl_win: 5.9000
2025-09-24 01:02:52,447 - mmdet - INFO - Epoch [1][2940/3517]	lr: 5.000e-05, eta: 18:07:32, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.4814, debug_std_frame_0: 0.8908, debug_std_frame_1: 0.8927, debug_std_frame_2: 0.8936, debug_std_frame_3: 0.9141, debug_std_frame_4: 0.9244, debug_std_frame_5: 0.9366, loss_rl: -0.1079, loss_critic: 0.9512, loss_rl_bc: 0.0700, il_score: 0.4398, rl_score: 0.3966, prev_frame_loss_waypoint_0: 0.4880, prev_frame_loss_rl_bc_0: 0.0718, loss: 1.9672, grad_norm: 28.9823, il_score_sum: 31.0574, rl_score_sum: 30.1063, score_diff: 0.9511, il_win: 4.7500, rl_win: 5.9000
2025-09-24 01:03:08,338 - mmdet - INFO - Epoch [1][2960/3517]	lr: 5.000e-05, eta: 18:07:12, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.4250, debug_std_frame_0: 0.8141, debug_std_frame_1: 0.8182, debug_std_frame_2: 0.8214, debug_std_frame_3: 0.8471, debug_std_frame_4: 0.8592, debug_std_frame_5: 0.8735, loss_rl: -0.1334, loss_critic: 1.2155, loss_rl_bc: 0.0800, il_score: 0.4261, rl_score: 0.3945, prev_frame_loss_waypoint_0: 0.4778, prev_frame_loss_rl_bc_0: 0.0836, loss: 2.1597, grad_norm: 28.1423, il_score_sum: 31.0574, rl_score_sum: 30.1063, score_diff: 0.9511, il_win: 4.7500, rl_win: 5.9000
2025-09-24 01:03:24,108 - mmdet - INFO - Epoch [1][2980/3517]	lr: 5.000e-05, eta: 18:06:49, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.4610, debug_std_frame_0: 1.0699, debug_std_frame_1: 1.0813, debug_std_frame_2: 1.0950, debug_std_frame_3: 1.1300, debug_std_frame_4: 1.1448, debug_std_frame_5: 1.1591, loss_rl: -0.0400, loss_critic: 0.7736, loss_rl_bc: 0.0845, il_score: 0.4152, rl_score: 0.3057, prev_frame_loss_waypoint_0: 0.4861, prev_frame_loss_rl_bc_0: 0.0908, loss: 1.8668, grad_norm: 26.5140, il_score_sum: 31.0574, rl_score_sum: 30.1063, score_diff: 0.9511, il_win: 4.7500, rl_win: 5.9000
2025-09-24 01:03:40,130 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 01:03:40,130 - mmdet - INFO - Epoch [1][3000/3517]	lr: 5.000e-05, eta: 18:06:33, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.5131, debug_std_frame_0: 1.2463, debug_std_frame_1: 1.2541, debug_std_frame_2: 1.2594, debug_std_frame_3: 1.2762, debug_std_frame_4: 1.2847, debug_std_frame_5: 1.2955, loss_rl: -0.0392, loss_critic: 0.5418, loss_rl_bc: 0.0845, il_score: 0.3758, rl_score: 0.2833, prev_frame_loss_waypoint_0: 0.5343, prev_frame_loss_rl_bc_0: 0.0905, loss: 1.7357, grad_norm: 28.3571, il_score_sum: 31.8479, rl_score_sum: 30.5501, score_diff: 1.2977, il_win: 5.3000, rl_win: 6.1500
2025-09-24 01:03:55,898 - mmdet - INFO - Epoch [1][3020/3517]	lr: 5.000e-05, eta: 18:06:11, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.4252, debug_std_frame_0: 1.0607, debug_std_frame_1: 1.0635, debug_std_frame_2: 1.0640, debug_std_frame_3: 1.0740, debug_std_frame_4: 1.0801, debug_std_frame_5: 1.0885, loss_rl: -0.1233, loss_critic: 1.0115, loss_rl_bc: 0.0688, il_score: 0.4172, rl_score: 0.3949, prev_frame_loss_waypoint_0: 0.4791, prev_frame_loss_rl_bc_0: 0.0777, loss: 1.9494, grad_norm: 25.3494, il_score_sum: 31.8479, rl_score_sum: 30.5501, score_diff: 1.2977, il_win: 5.3000, rl_win: 6.1500
2025-09-24 01:04:11,757 - mmdet - INFO - Epoch [1][3040/3517]	lr: 5.000e-05, eta: 18:05:50, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.4274, debug_std_frame_0: 0.9236, debug_std_frame_1: 0.9280, debug_std_frame_2: 0.9333, debug_std_frame_3: 0.9523, debug_std_frame_4: 0.9620, debug_std_frame_5: 0.9748, loss_rl: -0.1097, loss_critic: 1.0967, loss_rl_bc: 0.0716, il_score: 0.4513, rl_score: 0.4104, prev_frame_loss_waypoint_0: 0.4590, prev_frame_loss_rl_bc_0: 0.0731, loss: 2.0285, grad_norm: 29.4403, il_score_sum: 31.8479, rl_score_sum: 30.5501, score_diff: 1.2977, il_win: 5.3000, rl_win: 6.1500
2025-09-24 01:04:27,743 - mmdet - INFO - Epoch [1][3060/3517]	lr: 5.000e-05, eta: 18:05:34, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.4180, debug_std_frame_0: 0.8373, debug_std_frame_1: 0.8446, debug_std_frame_2: 0.8552, debug_std_frame_3: 0.8793, debug_std_frame_4: 0.8933, debug_std_frame_5: 0.9062, loss_rl: -0.0950, loss_critic: 1.0557, loss_rl_bc: 0.0680, il_score: 0.4324, rl_score: 0.3930, prev_frame_loss_waypoint_0: 0.4791, prev_frame_loss_rl_bc_0: 0.0772, loss: 2.0134, grad_norm: 28.4742, il_score_sum: 31.8479, rl_score_sum: 30.5501, score_diff: 1.2977, il_win: 5.3000, rl_win: 6.1500
2025-09-24 01:04:43,633 - mmdet - INFO - Epoch [1][3080/3517]	lr: 5.000e-05, eta: 18:05:14, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.4481, debug_std_frame_0: 0.8019, debug_std_frame_1: 0.8049, debug_std_frame_2: 0.8146, debug_std_frame_3: 0.8399, debug_std_frame_4: 0.8538, debug_std_frame_5: 0.8673, loss_rl: -0.1292, loss_critic: 1.2312, loss_rl_bc: 0.0672, il_score: 0.4106, rl_score: 0.4269, prev_frame_loss_waypoint_0: 0.4643, prev_frame_loss_rl_bc_0: 0.0722, loss: 2.1653, grad_norm: 33.7947, il_score_sum: 31.8479, rl_score_sum: 30.5501, score_diff: 1.2977, il_win: 5.3000, rl_win: 6.1500
2025-09-24 01:04:59,895 - mmdet - INFO - Epoch [1][3100/3517]	lr: 5.000e-05, eta: 18:05:05, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.4721, debug_std_frame_0: 0.8169, debug_std_frame_1: 0.8184, debug_std_frame_2: 0.8255, debug_std_frame_3: 0.8474, debug_std_frame_4: 0.8585, debug_std_frame_5: 0.8713, loss_rl: -0.0620, loss_critic: 0.9369, loss_rl_bc: 0.0670, il_score: 0.4033, rl_score: 0.4161, prev_frame_loss_waypoint_0: 0.5027, prev_frame_loss_rl_bc_0: 0.0739, loss: 2.0016, grad_norm: 29.4647, il_score_sum: 32.6577, rl_score_sum: 31.2489, score_diff: 1.4088, il_win: 5.9000, rl_win: 6.4000
2025-09-24 01:05:15,766 - mmdet - INFO - Epoch [1][3120/3517]	lr: 5.000e-05, eta: 18:04:45, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.5015, debug_std_frame_0: 0.9806, debug_std_frame_1: 0.9824, debug_std_frame_2: 0.9873, debug_std_frame_3: 1.0101, debug_std_frame_4: 1.0196, debug_std_frame_5: 1.0332, loss_rl: -0.0694, loss_critic: 1.0124, loss_rl_bc: 0.0764, il_score: 0.3842, rl_score: 0.3666, prev_frame_loss_waypoint_0: 0.5615, prev_frame_loss_rl_bc_0: 0.0844, loss: 2.1775, grad_norm: 36.8032, il_score_sum: 32.6577, rl_score_sum: 31.2489, score_diff: 1.4088, il_win: 5.9000, rl_win: 6.4000
2025-09-24 01:05:31,825 - mmdet - INFO - Epoch [1][3140/3517]	lr: 5.000e-05, eta: 18:04:30, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.4847, debug_std_frame_0: 0.9674, debug_std_frame_1: 0.9676, debug_std_frame_2: 0.9753, debug_std_frame_3: 0.9999, debug_std_frame_4: 1.0098, debug_std_frame_5: 1.0218, loss_rl: -0.1173, loss_critic: 1.1319, loss_rl_bc: 0.0723, il_score: 0.4267, rl_score: 0.4070, prev_frame_loss_waypoint_0: 0.4216, prev_frame_loss_rl_bc_0: 0.0752, loss: 2.0794, grad_norm: 28.7848, il_score_sum: 32.6577, rl_score_sum: 31.2489, score_diff: 1.4088, il_win: 5.9000, rl_win: 6.4000
2025-09-24 01:05:47,704 - mmdet - INFO - Epoch [1][3160/3517]	lr: 5.000e-05, eta: 18:04:11, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.4863, debug_std_frame_0: 0.9537, debug_std_frame_1: 0.9558, debug_std_frame_2: 0.9659, debug_std_frame_3: 0.9890, debug_std_frame_4: 1.0018, debug_std_frame_5: 1.0157, loss_rl: -0.1036, loss_critic: 0.9072, loss_rl_bc: 0.0736, il_score: 0.3915, rl_score: 0.3646, prev_frame_loss_waypoint_0: 0.4853, prev_frame_loss_rl_bc_0: 0.0790, loss: 1.9380, grad_norm: 28.2828, il_score_sum: 32.6577, rl_score_sum: 31.2489, score_diff: 1.4088, il_win: 5.9000, rl_win: 6.4000
2025-09-24 01:06:03,725 - mmdet - INFO - Epoch [1][3180/3517]	lr: 5.000e-05, eta: 18:03:55, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.4186, debug_std_frame_0: 0.8678, debug_std_frame_1: 0.8681, debug_std_frame_2: 0.8812, debug_std_frame_3: 0.9041, debug_std_frame_4: 0.9211, debug_std_frame_5: 0.9375, loss_rl: -0.1159, loss_critic: 1.1267, loss_rl_bc: 0.0645, il_score: 0.4605, rl_score: 0.4465, prev_frame_loss_waypoint_0: 0.4357, prev_frame_loss_rl_bc_0: 0.0690, loss: 2.0085, grad_norm: 25.2999, il_score_sum: 32.6577, rl_score_sum: 31.2489, score_diff: 1.4088, il_win: 5.9000, rl_win: 6.4000
2025-09-24 01:06:19,930 - mmdet - INFO - Epoch [1][3200/3517]	lr: 5.000e-05, eta: 18:03:44, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.4275, debug_std_frame_0: 0.8287, debug_std_frame_1: 0.8281, debug_std_frame_2: 0.8424, debug_std_frame_3: 0.8674, debug_std_frame_4: 0.8874, debug_std_frame_5: 0.9048, loss_rl: -0.0930, loss_critic: 0.9875, loss_rl_bc: 0.0700, il_score: 0.4583, rl_score: 0.4128, prev_frame_loss_waypoint_0: 0.4477, prev_frame_loss_rl_bc_0: 0.0749, loss: 1.9251, grad_norm: 35.6144, il_score_sum: 33.5333, rl_score_sum: 31.9463, score_diff: 1.5870, il_win: 6.5500, rl_win: 6.6000
2025-09-24 01:06:35,750 - mmdet - INFO - Epoch [1][3220/3517]	lr: 5.000e-05, eta: 18:03:23, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.4268, debug_std_frame_0: 0.8676, debug_std_frame_1: 0.8680, debug_std_frame_2: 0.8745, debug_std_frame_3: 0.8956, debug_std_frame_4: 0.9092, debug_std_frame_5: 0.9217, loss_rl: -0.1240, loss_critic: 1.0125, loss_rl_bc: 0.0668, il_score: 0.4715, rl_score: 0.4531, prev_frame_loss_waypoint_0: 0.4364, prev_frame_loss_rl_bc_0: 0.0666, loss: 1.8955, grad_norm: 26.9501, il_score_sum: 33.5333, rl_score_sum: 31.9463, score_diff: 1.5870, il_win: 6.5500, rl_win: 6.6000
2025-09-24 01:06:51,711 - mmdet - INFO - Epoch [1][3240/3517]	lr: 5.000e-05, eta: 18:03:06, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.3823, debug_std_frame_0: 0.7585, debug_std_frame_1: 0.7586, debug_std_frame_2: 0.7658, debug_std_frame_3: 0.7901, debug_std_frame_4: 0.8058, debug_std_frame_5: 0.8204, loss_rl: -0.1260, loss_critic: 1.3445, loss_rl_bc: 0.0709, il_score: 0.4548, rl_score: 0.4348, prev_frame_loss_waypoint_0: 0.4008, prev_frame_loss_rl_bc_0: 0.0608, loss: 2.1438, grad_norm: 29.2248, il_score_sum: 33.5333, rl_score_sum: 31.9463, score_diff: 1.5870, il_win: 6.5500, rl_win: 6.6000
2025-09-24 01:07:07,786 - mmdet - INFO - Epoch [1][3260/3517]	lr: 5.000e-05, eta: 18:02:51, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.3881, debug_std_frame_0: 0.7794, debug_std_frame_1: 0.7800, debug_std_frame_2: 0.7839, debug_std_frame_3: 0.8054, debug_std_frame_4: 0.8205, debug_std_frame_5: 0.8343, loss_rl: -0.1250, loss_critic: 1.2343, loss_rl_bc: 0.0564, il_score: 0.4571, rl_score: 0.4585, prev_frame_loss_waypoint_0: 0.3971, prev_frame_loss_rl_bc_0: 0.0617, loss: 2.0228, grad_norm: 25.1106, il_score_sum: 33.5333, rl_score_sum: 31.9463, score_diff: 1.5870, il_win: 6.5500, rl_win: 6.6000
2025-09-24 01:07:23,593 - mmdet - INFO - Epoch [1][3280/3517]	lr: 5.000e-05, eta: 18:02:30, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.4423, debug_std_frame_0: 0.7857, debug_std_frame_1: 0.7862, debug_std_frame_2: 0.7911, debug_std_frame_3: 0.8143, debug_std_frame_4: 0.8295, debug_std_frame_5: 0.8461, loss_rl: -0.1041, loss_critic: 1.2078, loss_rl_bc: 0.0686, il_score: 0.4417, rl_score: 0.4308, prev_frame_loss_waypoint_0: 0.4691, prev_frame_loss_rl_bc_0: 0.0718, loss: 2.1669, grad_norm: 30.4643, il_score_sum: 33.5333, rl_score_sum: 31.9463, score_diff: 1.5870, il_win: 6.5500, rl_win: 6.6000
2025-09-24 01:07:39,852 - mmdet - INFO - Epoch [1][3300/3517]	lr: 5.000e-05, eta: 18:02:20, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.4231, debug_std_frame_0: 0.8476, debug_std_frame_1: 0.8488, debug_std_frame_2: 0.8531, debug_std_frame_3: 0.8758, debug_std_frame_4: 0.8919, debug_std_frame_5: 0.9079, loss_rl: -0.1381, loss_critic: 1.0424, loss_rl_bc: 0.0642, il_score: 0.4691, rl_score: 0.4559, prev_frame_loss_waypoint_0: 0.4260, prev_frame_loss_rl_bc_0: 0.0673, loss: 1.8957, grad_norm: 23.7844, il_score_sum: 34.6458, rl_score_sum: 32.9431, score_diff: 1.7027, il_win: 7.2500, rl_win: 6.7500
2025-09-24 01:07:55,706 - mmdet - INFO - Epoch [1][3320/3517]	lr: 5.000e-05, eta: 18:02:00, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.4177, debug_std_frame_0: 0.7726, debug_std_frame_1: 0.7719, debug_std_frame_2: 0.7740, debug_std_frame_3: 0.7953, debug_std_frame_4: 0.8109, debug_std_frame_5: 0.8258, loss_rl: -0.1248, loss_critic: 1.1785, loss_rl_bc: 0.0613, il_score: 0.4519, rl_score: 0.4546, prev_frame_loss_waypoint_0: 0.4226, prev_frame_loss_rl_bc_0: 0.0606, loss: 2.0268, grad_norm: 25.9064, il_score_sum: 34.6458, rl_score_sum: 32.9431, score_diff: 1.7027, il_win: 7.2500, rl_win: 6.7500
2025-09-24 01:08:11,805 - mmdet - INFO - Epoch [1][3340/3517]	lr: 5.000e-05, eta: 18:01:46, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.4892, debug_std_frame_0: 0.7796, debug_std_frame_1: 0.7802, debug_std_frame_2: 0.7851, debug_std_frame_3: 0.8112, debug_std_frame_4: 0.8295, debug_std_frame_5: 0.8474, loss_rl: -0.0863, loss_critic: 1.1052, loss_rl_bc: 0.0686, il_score: 0.4325, rl_score: 0.4269, prev_frame_loss_waypoint_0: 0.4821, prev_frame_loss_rl_bc_0: 0.0740, loss: 2.1449, grad_norm: 30.9146, il_score_sum: 34.6458, rl_score_sum: 32.9431, score_diff: 1.7027, il_win: 7.2500, rl_win: 6.7500
2025-09-24 01:08:27,800 - mmdet - INFO - Epoch [1][3360/3517]	lr: 5.000e-05, eta: 18:01:30, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.4043, debug_std_frame_0: 0.7952, debug_std_frame_1: 0.7984, debug_std_frame_2: 0.8103, debug_std_frame_3: 0.8421, debug_std_frame_4: 0.8627, debug_std_frame_5: 0.8784, loss_rl: -0.1159, loss_critic: 1.0331, loss_rl_bc: 0.0647, il_score: 0.4896, rl_score: 0.4391, prev_frame_loss_waypoint_0: 0.4605, prev_frame_loss_rl_bc_0: 0.0702, loss: 1.9279, grad_norm: 27.6005, il_score_sum: 34.6458, rl_score_sum: 32.9431, score_diff: 1.7027, il_win: 7.2500, rl_win: 6.7500
2025-09-24 01:08:43,562 - mmdet - INFO - Epoch [1][3380/3517]	lr: 5.000e-05, eta: 18:01:08, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.4258, debug_std_frame_0: 0.8021, debug_std_frame_1: 0.8065, debug_std_frame_2: 0.8219, debug_std_frame_3: 0.8605, debug_std_frame_4: 0.8825, debug_std_frame_5: 0.8986, loss_rl: -0.1222, loss_critic: 1.1997, loss_rl_bc: 0.0634, il_score: 0.4551, rl_score: 0.4463, prev_frame_loss_waypoint_0: 0.4179, prev_frame_loss_rl_bc_0: 0.0663, loss: 2.0617, grad_norm: 26.1588, il_score_sum: 34.6458, rl_score_sum: 32.9431, score_diff: 1.7027, il_win: 7.2500, rl_win: 6.7500
2025-09-24 01:08:59,611 - mmdet - INFO - Epoch [1][3400/3517]	lr: 5.000e-05, eta: 18:00:53, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.4210, debug_std_frame_0: 0.7513, debug_std_frame_1: 0.7564, debug_std_frame_2: 0.7714, debug_std_frame_3: 0.8066, debug_std_frame_4: 0.8289, debug_std_frame_5: 0.8446, loss_rl: -0.1293, loss_critic: 1.2774, loss_rl_bc: 0.0624, il_score: 0.4715, rl_score: 0.4515, prev_frame_loss_waypoint_0: 0.4628, prev_frame_loss_rl_bc_0: 0.0718, loss: 2.1776, grad_norm: 31.5621, il_score_sum: 35.6953, rl_score_sum: 33.8351, score_diff: 1.8602, il_win: 8.0000, rl_win: 6.8500
2025-09-24 01:09:15,385 - mmdet - INFO - Epoch [1][3420/3517]	lr: 5.000e-05, eta: 18:00:31, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.4166, debug_std_frame_0: 0.7414, debug_std_frame_1: 0.7436, debug_std_frame_2: 0.7514, debug_std_frame_3: 0.7814, debug_std_frame_4: 0.8004, debug_std_frame_5: 0.8129, loss_rl: -0.1308, loss_critic: 1.4109, loss_rl_bc: 0.0574, il_score: 0.4481, rl_score: 0.4363, prev_frame_loss_waypoint_0: 0.4791, prev_frame_loss_rl_bc_0: 0.0641, loss: 2.3078, grad_norm: 31.1660, il_score_sum: 35.6953, rl_score_sum: 33.8351, score_diff: 1.8602, il_win: 8.0000, rl_win: 6.8500
2025-09-24 01:09:31,193 - mmdet - INFO - Epoch [1][3440/3517]	lr: 5.000e-05, eta: 18:00:10, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.4301, debug_std_frame_0: 0.8261, debug_std_frame_1: 0.8286, debug_std_frame_2: 0.8391, debug_std_frame_3: 0.8664, debug_std_frame_4: 0.8847, debug_std_frame_5: 0.8988, loss_rl: -0.1163, loss_critic: 1.1158, loss_rl_bc: 0.0814, il_score: 0.4797, rl_score: 0.4352, prev_frame_loss_waypoint_0: 0.4074, prev_frame_loss_rl_bc_0: 0.0738, loss: 2.0029, grad_norm: 34.7887, il_score_sum: 35.6953, rl_score_sum: 33.8351, score_diff: 1.8602, il_win: 8.0000, rl_win: 6.8500
2025-09-24 01:09:46,970 - mmdet - INFO - Epoch [1][3460/3517]	lr: 5.000e-05, eta: 17:59:49, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.3982, debug_std_frame_0: 0.8831, debug_std_frame_1: 0.8870, debug_std_frame_2: 0.9033, debug_std_frame_3: 0.9359, debug_std_frame_4: 0.9603, debug_std_frame_5: 0.9797, loss_rl: -0.1080, loss_critic: 1.0909, loss_rl_bc: 0.0574, il_score: 0.4728, rl_score: 0.4613, prev_frame_loss_waypoint_0: 0.4225, prev_frame_loss_rl_bc_0: 0.0682, loss: 1.9403, grad_norm: 29.3205, il_score_sum: 35.6953, rl_score_sum: 33.8351, score_diff: 1.8602, il_win: 8.0000, rl_win: 6.8500
2025-09-24 01:10:02,683 - mmdet - INFO - Epoch [1][3480/3517]	lr: 5.000e-05, eta: 17:59:26, time: 0.786, data_time: 0.011, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.4641, debug_std_frame_0: 0.7971, debug_std_frame_1: 0.7986, debug_std_frame_2: 0.8084, debug_std_frame_3: 0.8341, debug_std_frame_4: 0.8530, debug_std_frame_5: 0.8700, loss_rl: -0.1345, loss_critic: 1.2679, loss_rl_bc: 0.0631, il_score: 0.4835, rl_score: 0.4732, prev_frame_loss_waypoint_0: 0.5072, prev_frame_loss_rl_bc_0: 0.0690, loss: 2.2476, grad_norm: 34.1334, il_score_sum: 35.6953, rl_score_sum: 33.8351, score_diff: 1.8602, il_win: 8.0000, rl_win: 6.8500
2025-09-24 01:10:19,035 - mmdet - INFO - Epoch [1][3500/3517]	lr: 5.000e-05, eta: 17:59:18, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.3907, debug_std_frame_0: 0.7432, debug_std_frame_1: 0.7462, debug_std_frame_2: 0.7568, debug_std_frame_3: 0.7838, debug_std_frame_4: 0.8031, debug_std_frame_5: 0.8179, loss_rl: -0.0983, loss_critic: 1.3181, loss_rl_bc: 0.0574, il_score: 0.4703, rl_score: 0.4750, prev_frame_loss_waypoint_0: 0.4641, prev_frame_loss_rl_bc_0: 0.0660, loss: 2.2086, grad_norm: 30.5333, il_score_sum: 36.7380, rl_score_sum: 34.8071, score_diff: 1.9309, il_win: 8.8000, rl_win: 6.9500
2025-09-24 01:10:31,955 - mmdet - INFO - Saving checkpoint at 1 epochs
2025-09-24 01:13:06,799 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 01:13:06,799 - mmdet - INFO - Epoch(val) [1][753]	plan_L2_1s: 1.3031, plan_L2_2s: 2.1890, plan_L2_3s: 3.1071, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0003, plan_obj_col_3s: 0.0004, plan_obj_box_col_1s: 0.0018, plan_obj_box_col_2s: 0.0054, plan_obj_box_col_3s: 0.0142, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 1.1360, plan_L2_2s_rl_actor: 1.9238, plan_L2_3s_rl_actor: 2.7723, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0002, plan_obj_col_3s_rl_actor: 0.0003, plan_obj_box_col_1s_rl_actor: 0.0150, plan_obj_box_col_2s_rl_actor: 0.0201, plan_obj_box_col_3s_rl_actor: 0.0280, fut_valid_flag_rl_actor: 1.0000
2025-09-24 01:13:30,845 - mmdet - INFO - Epoch [2][20/3517]	lr: 4.979e-05, eta: 17:56:41, time: 1.202, data_time: 0.353, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.4489, debug_std_frame_0: 0.8021, debug_std_frame_1: 0.8051, debug_std_frame_2: 0.8137, debug_std_frame_3: 0.8383, debug_std_frame_4: 0.8589, debug_std_frame_5: 0.8742, loss_rl: -0.1117, loss_critic: 1.1606, loss_rl_bc: 0.0712, il_score: 0.4088, rl_score: 0.4446, prev_frame_loss_waypoint_0: 0.4571, prev_frame_loss_rl_bc_0: 0.0649, loss: 2.1022, grad_norm: 29.1837
2025-09-24 01:13:47,610 - mmdet - INFO - Epoch [2][40/3517]	lr: 4.979e-05, eta: 17:56:42, time: 0.838, data_time: 0.015, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.4428, debug_std_frame_0: 0.8239, debug_std_frame_1: 0.8298, debug_std_frame_2: 0.8364, debug_std_frame_3: 0.8652, debug_std_frame_4: 0.8906, debug_std_frame_5: 0.9080, loss_rl: -0.0888, loss_critic: 1.0570, loss_rl_bc: 0.0716, il_score: 0.4310, rl_score: 0.4258, prev_frame_loss_waypoint_0: 0.4495, prev_frame_loss_rl_bc_0: 0.0703, loss: 2.0155, grad_norm: 34.6284
2025-09-24 01:14:04,382 - mmdet - INFO - Epoch [2][60/3517]	lr: 4.979e-05, eta: 17:56:44, time: 0.839, data_time: 0.015, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.3854, debug_std_frame_0: 0.7670, debug_std_frame_1: 0.7718, debug_std_frame_2: 0.7863, debug_std_frame_3: 0.8189, debug_std_frame_4: 0.8477, debug_std_frame_5: 0.8683, loss_rl: -0.1082, loss_critic: 0.9480, loss_rl_bc: 0.0586, il_score: 0.4618, rl_score: 0.4492, prev_frame_loss_waypoint_0: 0.4431, prev_frame_loss_rl_bc_0: 0.0652, loss: 1.8030, grad_norm: 24.7446
2025-09-24 01:14:20,887 - mmdet - INFO - Epoch [2][80/3517]	lr: 4.979e-05, eta: 17:56:40, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.4156, debug_std_frame_0: 0.7208, debug_std_frame_1: 0.7250, debug_std_frame_2: 0.7399, debug_std_frame_3: 0.7696, debug_std_frame_4: 0.7951, debug_std_frame_5: 0.8159, loss_rl: -0.1431, loss_critic: 1.3501, loss_rl_bc: 0.0610, il_score: 0.4688, rl_score: 0.4487, prev_frame_loss_waypoint_0: 0.4077, prev_frame_loss_rl_bc_0: 0.0593, loss: 2.1613, grad_norm: 30.2456
2025-09-24 01:14:37,478 - mmdet - INFO - Epoch [2][100/3517]	lr: 4.979e-05, eta: 17:56:37, time: 0.829, data_time: 0.015, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.3776, debug_std_frame_0: 0.6678, debug_std_frame_1: 0.6709, debug_std_frame_2: 0.6853, debug_std_frame_3: 0.7149, debug_std_frame_4: 0.7413, debug_std_frame_5: 0.7626, loss_rl: -0.1324, loss_critic: 1.0839, loss_rl_bc: 0.0480, il_score: 0.4636, rl_score: 0.4997, prev_frame_loss_waypoint_0: 0.4089, prev_frame_loss_rl_bc_0: 0.0531, loss: 1.8500, grad_norm: 29.8806, il_score_sum: 45.1073, rl_score_sum: 44.6901, score_diff: 0.4173, il_win: 18.0000, rl_win: 7.0000
2025-09-24 01:14:53,725 - mmdet - INFO - Epoch [2][120/3517]	lr: 4.979e-05, eta: 17:56:27, time: 0.813, data_time: 0.016, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.4442, debug_std_frame_0: 0.7122, debug_std_frame_1: 0.7138, debug_std_frame_2: 0.7258, debug_std_frame_3: 0.7538, debug_std_frame_4: 0.7772, debug_std_frame_5: 0.7970, loss_rl: -0.1613, loss_critic: 1.2463, loss_rl_bc: 0.0583, il_score: 0.4308, rl_score: 0.4722, prev_frame_loss_waypoint_0: 0.4885, prev_frame_loss_rl_bc_0: 0.0639, loss: 2.1515, grad_norm: 31.5451, il_score_sum: 45.1073, rl_score_sum: 44.6901, score_diff: 0.4173, il_win: 18.0000, rl_win: 7.0000
2025-09-24 01:15:10,161 - mmdet - INFO - Epoch [2][140/3517]	lr: 4.979e-05, eta: 17:56:21, time: 0.822, data_time: 0.015, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.4206, debug_std_frame_0: 0.8464, debug_std_frame_1: 0.8496, debug_std_frame_2: 0.8627, debug_std_frame_3: 0.9029, debug_std_frame_4: 0.9315, debug_std_frame_5: 0.9529, loss_rl: -0.0781, loss_critic: 0.9399, loss_rl_bc: 0.0684, il_score: 0.4856, rl_score: 0.3953, prev_frame_loss_waypoint_0: 0.4534, prev_frame_loss_rl_bc_0: 0.0778, loss: 1.8939, grad_norm: 25.9138, il_score_sum: 45.1073, rl_score_sum: 44.6901, score_diff: 0.4173, il_win: 18.0000, rl_win: 7.0000
2025-09-24 01:15:26,512 - mmdet - INFO - Epoch [2][160/3517]	lr: 4.979e-05, eta: 17:56:13, time: 0.817, data_time: 0.015, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.3555, debug_std_frame_0: 0.7602, debug_std_frame_1: 0.7608, debug_std_frame_2: 0.7749, debug_std_frame_3: 0.8136, debug_std_frame_4: 0.8438, debug_std_frame_5: 0.8608, loss_rl: -0.1043, loss_critic: 1.0308, loss_rl_bc: 0.0552, il_score: 0.4912, rl_score: 0.4384, prev_frame_loss_waypoint_0: 0.3974, prev_frame_loss_rl_bc_0: 0.0604, loss: 1.8079, grad_norm: 31.2297, il_score_sum: 45.1073, rl_score_sum: 44.6901, score_diff: 0.4173, il_win: 18.0000, rl_win: 7.0000
2025-09-24 01:15:43,180 - mmdet - INFO - Epoch [2][180/3517]	lr: 4.979e-05, eta: 17:56:11, time: 0.833, data_time: 0.016, memory: 8550, loss_rec: 0.0117, loss_waypoint: 0.4097, debug_std_frame_0: 0.7709, debug_std_frame_1: 0.7742, debug_std_frame_2: 0.7901, debug_std_frame_3: 0.8283, debug_std_frame_4: 0.8601, debug_std_frame_5: 0.8784, loss_rl: -0.1336, loss_critic: 1.2215, loss_rl_bc: 0.0616, il_score: 0.4816, rl_score: 0.4697, prev_frame_loss_waypoint_0: 0.4012, prev_frame_loss_rl_bc_0: 0.0661, loss: 2.0381, grad_norm: 32.1315, il_score_sum: 45.1073, rl_score_sum: 44.6901, score_diff: 0.4173, il_win: 18.0000, rl_win: 7.0000
2025-09-24 01:15:59,825 - mmdet - INFO - Epoch [2][200/3517]	lr: 4.979e-05, eta: 17:56:09, time: 0.832, data_time: 0.015, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.3415, debug_std_frame_0: 0.6786, debug_std_frame_1: 0.6865, debug_std_frame_2: 0.7010, debug_std_frame_3: 0.7464, debug_std_frame_4: 0.7805, debug_std_frame_5: 0.8005, loss_rl: -0.1517, loss_critic: 1.2196, loss_rl_bc: 0.0498, il_score: 0.5285, rl_score: 0.5060, prev_frame_loss_waypoint_0: 0.4150, prev_frame_loss_rl_bc_0: 0.0609, loss: 1.9468, grad_norm: 40.5605, il_score_sum: 46.1198, rl_score_sum: 45.0137, score_diff: 1.1061, il_win: 18.5000, rl_win: 7.0000
2025-09-24 01:16:15,887 - mmdet - INFO - Epoch [2][220/3517]	lr: 4.979e-05, eta: 17:55:54, time: 0.803, data_time: 0.015, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.3838, debug_std_frame_0: 0.6961, debug_std_frame_1: 0.7018, debug_std_frame_2: 0.7135, debug_std_frame_3: 0.7564, debug_std_frame_4: 0.7903, debug_std_frame_5: 0.8091, loss_rl: -0.1500, loss_critic: 1.2579, loss_rl_bc: 0.0629, il_score: 0.5029, rl_score: 0.4714, prev_frame_loss_waypoint_0: 0.4266, prev_frame_loss_rl_bc_0: 0.0665, loss: 2.0588, grad_norm: 29.9208, il_score_sum: 46.1198, rl_score_sum: 45.0137, score_diff: 1.1061, il_win: 18.5000, rl_win: 7.0000
2025-09-24 01:16:31,940 - mmdet - INFO - Epoch [2][240/3517]	lr: 4.979e-05, eta: 17:55:39, time: 0.802, data_time: 0.015, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.3693, debug_std_frame_0: 0.6952, debug_std_frame_1: 0.6999, debug_std_frame_2: 0.7127, debug_std_frame_3: 0.7530, debug_std_frame_4: 0.7908, debug_std_frame_5: 0.8104, loss_rl: -0.1177, loss_critic: 1.3701, loss_rl_bc: 0.0542, il_score: 0.4890, rl_score: 0.4787, prev_frame_loss_waypoint_0: 0.3763, prev_frame_loss_rl_bc_0: 0.0599, loss: 2.1230, grad_norm: 36.7111, il_score_sum: 46.1198, rl_score_sum: 45.0137, score_diff: 1.1061, il_win: 18.5000, rl_win: 7.0000
2025-09-24 01:16:47,793 - mmdet - INFO - Epoch [2][260/3517]	lr: 4.979e-05, eta: 17:55:20, time: 0.793, data_time: 0.016, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.4046, debug_std_frame_0: 0.7915, debug_std_frame_1: 0.7979, debug_std_frame_2: 0.8111, debug_std_frame_3: 0.8456, debug_std_frame_4: 0.8800, debug_std_frame_5: 0.8968, loss_rl: -0.0809, loss_critic: 0.9482, loss_rl_bc: 0.0723, il_score: 0.4804, rl_score: 0.4317, prev_frame_loss_waypoint_0: 0.4306, prev_frame_loss_rl_bc_0: 0.0706, loss: 1.8564, grad_norm: 32.0792, il_score_sum: 46.1198, rl_score_sum: 45.0137, score_diff: 1.1061, il_win: 18.5000, rl_win: 7.0000
2025-09-24 01:17:03,974 - mmdet - INFO - Epoch [2][280/3517]	lr: 4.979e-05, eta: 17:55:08, time: 0.809, data_time: 0.015, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.3806, debug_std_frame_0: 0.7657, debug_std_frame_1: 0.7722, debug_std_frame_2: 0.7834, debug_std_frame_3: 0.8101, debug_std_frame_4: 0.8406, debug_std_frame_5: 0.8564, loss_rl: -0.1444, loss_critic: 1.0808, loss_rl_bc: 0.0557, il_score: 0.5108, rl_score: 0.4888, prev_frame_loss_waypoint_0: 0.4059, prev_frame_loss_rl_bc_0: 0.0657, loss: 1.8551, grad_norm: 28.3689, il_score_sum: 46.1198, rl_score_sum: 45.0137, score_diff: 1.1061, il_win: 18.5000, rl_win: 7.0000
2025-09-24 01:17:20,149 - mmdet - INFO - Epoch [2][300/3517]	lr: 4.979e-05, eta: 17:54:55, time: 0.808, data_time: 0.017, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.3457, debug_std_frame_0: 0.7803, debug_std_frame_1: 0.7881, debug_std_frame_2: 0.8024, debug_std_frame_3: 0.8349, debug_std_frame_4: 0.8650, debug_std_frame_5: 0.8808, loss_rl: -0.1888, loss_critic: 1.2257, loss_rl_bc: 0.0586, il_score: 0.5128, rl_score: 0.4825, prev_frame_loss_waypoint_0: 0.3506, prev_frame_loss_rl_bc_0: 0.0630, loss: 1.8663, grad_norm: 32.5905, il_score_sum: 47.3474, rl_score_sum: 45.7451, score_diff: 1.6023, il_win: 19.0000, rl_win: 7.0000
2025-09-24 01:17:36,020 - mmdet - INFO - Epoch [2][320/3517]	lr: 4.979e-05, eta: 17:54:37, time: 0.794, data_time: 0.016, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.3443, debug_std_frame_0: 0.7309, debug_std_frame_1: 0.7368, debug_std_frame_2: 0.7547, debug_std_frame_3: 0.7889, debug_std_frame_4: 0.8214, debug_std_frame_5: 0.8386, loss_rl: -0.2060, loss_critic: 1.3767, loss_rl_bc: 0.0495, il_score: 0.4969, rl_score: 0.5176, prev_frame_loss_waypoint_0: 0.3974, prev_frame_loss_rl_bc_0: 0.0555, loss: 2.0295, grad_norm: 29.9686, il_score_sum: 47.3474, rl_score_sum: 45.7451, score_diff: 1.6023, il_win: 19.0000, rl_win: 7.0000
2025-09-24 01:17:52,062 - mmdet - INFO - Epoch [2][340/3517]	lr: 4.979e-05, eta: 17:54:21, time: 0.802, data_time: 0.016, memory: 8550, loss_rec: 0.0114, loss_waypoint: 0.3757, debug_std_frame_0: 0.6660, debug_std_frame_1: 0.6694, debug_std_frame_2: 0.6858, debug_std_frame_3: 0.7138, debug_std_frame_4: 0.7509, debug_std_frame_5: 0.7683, loss_rl: -0.1325, loss_critic: 1.1992, loss_rl_bc: 0.0515, il_score: 0.4964, rl_score: 0.4960, prev_frame_loss_waypoint_0: 0.4337, prev_frame_loss_rl_bc_0: 0.0612, loss: 2.0003, grad_norm: 33.1862, il_score_sum: 47.3474, rl_score_sum: 45.7451, score_diff: 1.6023, il_win: 19.0000, rl_win: 7.0000
2025-09-24 01:18:08,001 - mmdet - INFO - Epoch [2][360/3517]	lr: 4.979e-05, eta: 17:54:04, time: 0.797, data_time: 0.016, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.4050, debug_std_frame_0: 0.6957, debug_std_frame_1: 0.6989, debug_std_frame_2: 0.7154, debug_std_frame_3: 0.7483, debug_std_frame_4: 0.7896, debug_std_frame_5: 0.8081, loss_rl: -0.1646, loss_critic: 1.2278, loss_rl_bc: 0.0644, il_score: 0.4885, rl_score: 0.4796, prev_frame_loss_waypoint_0: 0.4533, prev_frame_loss_rl_bc_0: 0.0754, loss: 2.0729, grad_norm: 30.3288, il_score_sum: 47.3474, rl_score_sum: 45.7451, score_diff: 1.6023, il_win: 19.0000, rl_win: 7.0000
2025-09-24 01:18:24,107 - mmdet - INFO - Epoch [2][380/3517]	lr: 4.979e-05, eta: 17:53:50, time: 0.805, data_time: 0.017, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.4204, debug_std_frame_0: 0.7153, debug_std_frame_1: 0.7195, debug_std_frame_2: 0.7405, debug_std_frame_3: 0.7865, debug_std_frame_4: 0.8281, debug_std_frame_5: 0.8465, loss_rl: -0.1445, loss_critic: 1.1442, loss_rl_bc: 0.0557, il_score: 0.4628, rl_score: 0.4643, prev_frame_loss_waypoint_0: 0.4360, prev_frame_loss_rl_bc_0: 0.0603, loss: 1.9833, grad_norm: 34.4605, il_score_sum: 47.3474, rl_score_sum: 45.7451, score_diff: 1.6023, il_win: 19.0000, rl_win: 7.0000
2025-09-24 01:18:39,979 - mmdet - INFO - Epoch [2][400/3517]	lr: 4.979e-05, eta: 17:53:31, time: 0.794, data_time: 0.015, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.3850, debug_std_frame_0: 0.7567, debug_std_frame_1: 0.7580, debug_std_frame_2: 0.7718, debug_std_frame_3: 0.8120, debug_std_frame_4: 0.8478, debug_std_frame_5: 0.8642, loss_rl: -0.1650, loss_critic: 1.3177, loss_rl_bc: 0.0591, il_score: 0.5136, rl_score: 0.4848, prev_frame_loss_waypoint_0: 0.4136, prev_frame_loss_rl_bc_0: 0.0606, loss: 2.0822, grad_norm: 28.0795, il_score_sum: 47.8368, rl_score_sum: 46.5823, score_diff: 1.2544, il_win: 19.2500, rl_win: 7.0000
2025-09-24 01:18:55,946 - mmdet - INFO - Epoch [2][420/3517]	lr: 4.979e-05, eta: 17:53:14, time: 0.798, data_time: 0.017, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.3550, debug_std_frame_0: 0.6832, debug_std_frame_1: 0.6835, debug_std_frame_2: 0.6987, debug_std_frame_3: 0.7328, debug_std_frame_4: 0.7718, debug_std_frame_5: 0.7912, loss_rl: -0.1554, loss_critic: 1.1482, loss_rl_bc: 0.0481, il_score: 0.4696, rl_score: 0.5101, prev_frame_loss_waypoint_0: 0.3810, prev_frame_loss_rl_bc_0: 0.0549, loss: 1.8437, grad_norm: 32.2977, il_score_sum: 47.8368, rl_score_sum: 46.5823, score_diff: 1.2544, il_win: 19.2500, rl_win: 7.0000
2025-09-24 01:19:11,836 - mmdet - INFO - Epoch [2][440/3517]	lr: 4.979e-05, eta: 17:52:56, time: 0.795, data_time: 0.017, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.3611, debug_std_frame_0: 0.6417, debug_std_frame_1: 0.6441, debug_std_frame_2: 0.6597, debug_std_frame_3: 0.6884, debug_std_frame_4: 0.7309, debug_std_frame_5: 0.7551, loss_rl: -0.0991, loss_critic: 1.1364, loss_rl_bc: 0.0529, il_score: 0.4495, rl_score: 0.4569, prev_frame_loss_waypoint_0: 0.4078, prev_frame_loss_rl_bc_0: 0.0577, loss: 1.9281, grad_norm: 33.6039, il_score_sum: 47.8368, rl_score_sum: 46.5823, score_diff: 1.2544, il_win: 19.2500, rl_win: 7.0000
2025-09-24 01:19:28,278 - mmdet - INFO - Epoch [2][460/3517]	lr: 4.979e-05, eta: 17:52:49, time: 0.822, data_time: 0.017, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.3723, debug_std_frame_0: 0.6223, debug_std_frame_1: 0.6259, debug_std_frame_2: 0.6378, debug_std_frame_3: 0.6665, debug_std_frame_4: 0.7059, debug_std_frame_5: 0.7299, loss_rl: -0.1718, loss_critic: 1.5391, loss_rl_bc: 0.0590, il_score: 0.4680, rl_score: 0.4829, prev_frame_loss_waypoint_0: 0.3871, prev_frame_loss_rl_bc_0: 0.0585, loss: 2.2574, grad_norm: 37.2526, il_score_sum: 47.8368, rl_score_sum: 46.5823, score_diff: 1.2544, il_win: 19.2500, rl_win: 7.0000
2025-09-24 01:19:44,694 - mmdet - INFO - Epoch [2][480/3517]	lr: 4.979e-05, eta: 17:52:41, time: 0.821, data_time: 0.015, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.4038, debug_std_frame_0: 0.6899, debug_std_frame_1: 0.6964, debug_std_frame_2: 0.7120, debug_std_frame_3: 0.7443, debug_std_frame_4: 0.7830, debug_std_frame_5: 0.8042, loss_rl: -0.0789, loss_critic: 1.0281, loss_rl_bc: 0.0631, il_score: 0.4445, rl_score: 0.4058, prev_frame_loss_waypoint_0: 0.4312, prev_frame_loss_rl_bc_0: 0.0675, loss: 1.9257, grad_norm: 34.0620, il_score_sum: 47.8368, rl_score_sum: 46.5823, score_diff: 1.2544, il_win: 19.2500, rl_win: 7.0000
2025-09-24 01:20:01,189 - mmdet - INFO - Epoch [2][500/3517]	lr: 4.979e-05, eta: 17:52:35, time: 0.824, data_time: 0.016, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.3934, debug_std_frame_0: 0.6981, debug_std_frame_1: 0.7053, debug_std_frame_2: 0.7165, debug_std_frame_3: 0.7490, debug_std_frame_4: 0.7832, debug_std_frame_5: 0.8018, loss_rl: -0.1813, loss_critic: 1.3586, loss_rl_bc: 0.0537, il_score: 0.5014, rl_score: 0.5208, prev_frame_loss_waypoint_0: 0.4543, prev_frame_loss_rl_bc_0: 0.0648, loss: 2.1543, grad_norm: 37.1364, il_score_sum: 47.6108, rl_score_sum: 46.6465, score_diff: 0.9643, il_win: 19.4000, rl_win: 7.0000
2025-09-24 01:20:17,490 - mmdet - INFO - Epoch [2][520/3517]	lr: 4.979e-05, eta: 17:52:25, time: 0.815, data_time: 0.015, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.3697, debug_std_frame_0: 0.7123, debug_std_frame_1: 0.7198, debug_std_frame_2: 0.7344, debug_std_frame_3: 0.7675, debug_std_frame_4: 0.8023, debug_std_frame_5: 0.8214, loss_rl: -0.1354, loss_critic: 1.1404, loss_rl_bc: 0.0552, il_score: 0.4772, rl_score: 0.4978, prev_frame_loss_waypoint_0: 0.3914, prev_frame_loss_rl_bc_0: 0.0583, loss: 1.8903, grad_norm: 28.6159, il_score_sum: 47.6108, rl_score_sum: 46.6465, score_diff: 0.9643, il_win: 19.4000, rl_win: 7.0000
2025-09-24 01:20:33,825 - mmdet - INFO - Epoch [2][540/3517]	lr: 4.979e-05, eta: 17:52:15, time: 0.817, data_time: 0.016, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.3110, debug_std_frame_0: 0.5826, debug_std_frame_1: 0.5909, debug_std_frame_2: 0.6046, debug_std_frame_3: 0.6378, debug_std_frame_4: 0.6739, debug_std_frame_5: 0.6973, loss_rl: -0.1152, loss_critic: 1.3119, loss_rl_bc: 0.0564, il_score: 0.5418, rl_score: 0.5356, prev_frame_loss_waypoint_0: 0.3489, prev_frame_loss_rl_bc_0: 0.0597, loss: 1.9855, grad_norm: 32.4323, il_score_sum: 47.6108, rl_score_sum: 46.6465, score_diff: 0.9643, il_win: 19.4000, rl_win: 7.0000
2025-09-24 01:20:49,623 - mmdet - INFO - Epoch [2][560/3517]	lr: 4.979e-05, eta: 17:51:55, time: 0.790, data_time: 0.015, memory: 8550, loss_rec: 0.0117, loss_waypoint: 0.4309, debug_std_frame_0: 0.6599, debug_std_frame_1: 0.6648, debug_std_frame_2: 0.6796, debug_std_frame_3: 0.7088, debug_std_frame_4: 0.7406, debug_std_frame_5: 0.7612, loss_rl: -0.1128, loss_critic: 1.5060, loss_rl_bc: 0.0686, il_score: 0.4591, rl_score: 0.4447, prev_frame_loss_waypoint_0: 0.4570, prev_frame_loss_rl_bc_0: 0.0689, loss: 2.4302, grad_norm: 38.2288, il_score_sum: 47.6108, rl_score_sum: 46.6465, score_diff: 0.9643, il_win: 19.4000, rl_win: 7.0000
2025-09-24 01:21:05,743 - mmdet - INFO - Epoch [2][580/3517]	lr: 4.979e-05, eta: 17:51:41, time: 0.806, data_time: 0.017, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.3336, debug_std_frame_0: 0.6996, debug_std_frame_1: 0.7067, debug_std_frame_2: 0.7264, debug_std_frame_3: 0.7647, debug_std_frame_4: 0.7969, debug_std_frame_5: 0.8172, loss_rl: -0.0901, loss_critic: 0.9480, loss_rl_bc: 0.0568, il_score: 0.5147, rl_score: 0.4737, prev_frame_loss_waypoint_0: 0.3223, prev_frame_loss_rl_bc_0: 0.0569, loss: 1.6384, grad_norm: 33.5980, il_score_sum: 47.6108, rl_score_sum: 46.6465, score_diff: 0.9643, il_win: 19.4000, rl_win: 7.0000
2025-09-24 01:21:21,885 - mmdet - INFO - Epoch [2][600/3517]	lr: 4.979e-05, eta: 17:51:27, time: 0.807, data_time: 0.015, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.4607, debug_std_frame_0: 0.6433, debug_std_frame_1: 0.6523, debug_std_frame_2: 0.6723, debug_std_frame_3: 0.7077, debug_std_frame_4: 0.7398, debug_std_frame_5: 0.7579, loss_rl: -0.1153, loss_critic: 1.1632, loss_rl_bc: 0.0709, il_score: 0.4490, rl_score: 0.4400, prev_frame_loss_waypoint_0: 0.4275, prev_frame_loss_rl_bc_0: 0.0632, loss: 2.0841, grad_norm: 36.5902, il_score_sum: 48.0106, rl_score_sum: 47.0842, score_diff: 0.9264, il_win: 19.5000, rl_win: 7.0000
2025-09-24 01:21:37,718 - mmdet - INFO - Epoch [2][620/3517]	lr: 4.979e-05, eta: 17:51:08, time: 0.792, data_time: 0.017, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.4866, debug_std_frame_0: 0.7919, debug_std_frame_1: 0.7999, debug_std_frame_2: 0.8151, debug_std_frame_3: 0.8539, debug_std_frame_4: 0.8784, debug_std_frame_5: 0.8958, loss_rl: -0.1308, loss_critic: 1.1237, loss_rl_bc: 0.0698, il_score: 0.4238, rl_score: 0.4358, prev_frame_loss_waypoint_0: 0.5223, prev_frame_loss_rl_bc_0: 0.0748, loss: 2.1577, grad_norm: 31.5755, il_score_sum: 48.0106, rl_score_sum: 47.0842, score_diff: 0.9264, il_win: 19.5000, rl_win: 7.0000
2025-09-24 01:21:53,714 - mmdet - INFO - Epoch [2][640/3517]	lr: 4.979e-05, eta: 17:50:52, time: 0.800, data_time: 0.016, memory: 8550, loss_rec: 0.0123, loss_waypoint: 0.4040, debug_std_frame_0: 0.7594, debug_std_frame_1: 0.7692, debug_std_frame_2: 0.7860, debug_std_frame_3: 0.8269, debug_std_frame_4: 0.8534, debug_std_frame_5: 0.8728, loss_rl: -0.1351, loss_critic: 1.1221, loss_rl_bc: 0.0585, il_score: 0.4575, rl_score: 0.4661, prev_frame_loss_waypoint_0: 0.4478, prev_frame_loss_rl_bc_0: 0.0636, loss: 1.9732, grad_norm: 30.0723, il_score_sum: 48.0106, rl_score_sum: 47.0842, score_diff: 0.9264, il_win: 19.5000, rl_win: 7.0000
2025-09-24 01:22:09,905 - mmdet - INFO - Epoch [2][660/3517]	lr: 4.979e-05, eta: 17:50:39, time: 0.809, data_time: 0.017, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.4100, debug_std_frame_0: 0.7515, debug_std_frame_1: 0.7600, debug_std_frame_2: 0.7807, debug_std_frame_3: 0.8215, debug_std_frame_4: 0.8468, debug_std_frame_5: 0.8614, loss_rl: -0.1004, loss_critic: 1.0022, loss_rl_bc: 0.0580, il_score: 0.4689, rl_score: 0.4548, prev_frame_loss_waypoint_0: 0.4255, prev_frame_loss_rl_bc_0: 0.0679, loss: 1.8762, grad_norm: 27.2149, il_score_sum: 48.0106, rl_score_sum: 47.0842, score_diff: 0.9264, il_win: 19.5000, rl_win: 7.0000
2025-09-24 01:22:25,758 - mmdet - INFO - Epoch [2][680/3517]	lr: 4.979e-05, eta: 17:50:20, time: 0.793, data_time: 0.015, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.3883, debug_std_frame_0: 0.6924, debug_std_frame_1: 0.7002, debug_std_frame_2: 0.7196, debug_std_frame_3: 0.7603, debug_std_frame_4: 0.7858, debug_std_frame_5: 0.8002, loss_rl: -0.1031, loss_critic: 1.0130, loss_rl_bc: 0.0580, il_score: 0.4942, rl_score: 0.4873, prev_frame_loss_waypoint_0: 0.3852, prev_frame_loss_rl_bc_0: 0.0601, loss: 1.8135, grad_norm: 30.0661, il_score_sum: 48.0106, rl_score_sum: 47.0842, score_diff: 0.9264, il_win: 19.5000, rl_win: 7.0000
2025-09-24 01:22:41,856 - mmdet - INFO - Epoch [2][700/3517]	lr: 4.979e-05, eta: 17:50:06, time: 0.805, data_time: 0.017, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.3417, debug_std_frame_0: 0.7042, debug_std_frame_1: 0.7072, debug_std_frame_2: 0.7226, debug_std_frame_3: 0.7582, debug_std_frame_4: 0.7844, debug_std_frame_5: 0.8001, loss_rl: -0.1532, loss_critic: 1.1981, loss_rl_bc: 0.0511, il_score: 0.4825, rl_score: 0.4743, prev_frame_loss_waypoint_0: 0.3915, prev_frame_loss_rl_bc_0: 0.0584, loss: 1.8991, grad_norm: 33.4642, il_score_sum: 47.7313, rl_score_sum: 46.8789, score_diff: 0.8523, il_win: 19.5714, rl_win: 7.0000
2025-09-24 01:22:57,664 - mmdet - INFO - Epoch [2][720/3517]	lr: 4.979e-05, eta: 17:49:46, time: 0.790, data_time: 0.017, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.3608, debug_std_frame_0: 0.7081, debug_std_frame_1: 0.7103, debug_std_frame_2: 0.7266, debug_std_frame_3: 0.7642, debug_std_frame_4: 0.7920, debug_std_frame_5: 0.8079, loss_rl: -0.0862, loss_critic: 1.0692, loss_rl_bc: 0.0603, il_score: 0.4619, rl_score: 0.4289, prev_frame_loss_waypoint_0: 0.4007, prev_frame_loss_rl_bc_0: 0.0617, loss: 1.8774, grad_norm: 31.2852, il_score_sum: 47.7313, rl_score_sum: 46.8789, score_diff: 0.8523, il_win: 19.5714, rl_win: 7.0000
2025-09-24 01:23:13,635 - mmdet - INFO - Epoch [2][740/3517]	lr: 4.979e-05, eta: 17:49:29, time: 0.798, data_time: 0.016, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.3780, debug_std_frame_0: 0.7086, debug_std_frame_1: 0.7135, debug_std_frame_2: 0.7373, debug_std_frame_3: 0.7802, debug_std_frame_4: 0.8149, debug_std_frame_5: 0.8323, loss_rl: -0.1343, loss_critic: 1.3330, loss_rl_bc: 0.0558, il_score: 0.4692, rl_score: 0.4751, prev_frame_loss_waypoint_0: 0.3961, prev_frame_loss_rl_bc_0: 0.0610, loss: 2.1002, grad_norm: 35.5354, il_score_sum: 47.7313, rl_score_sum: 46.8789, score_diff: 0.8523, il_win: 19.5714, rl_win: 7.0000
2025-09-24 01:23:29,631 - mmdet - INFO - Epoch [2][760/3517]	lr: 4.979e-05, eta: 17:49:12, time: 0.800, data_time: 0.015, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.3846, debug_std_frame_0: 0.6882, debug_std_frame_1: 0.6914, debug_std_frame_2: 0.7131, debug_std_frame_3: 0.7519, debug_std_frame_4: 0.7857, debug_std_frame_5: 0.8023, loss_rl: -0.1283, loss_critic: 1.4415, loss_rl_bc: 0.0574, il_score: 0.4734, rl_score: 0.4800, prev_frame_loss_waypoint_0: 0.4003, prev_frame_loss_rl_bc_0: 0.0594, loss: 2.2258, grad_norm: 37.1122, il_score_sum: 47.7313, rl_score_sum: 46.8789, score_diff: 0.8523, il_win: 19.5714, rl_win: 7.0000
2025-09-24 01:23:45,662 - mmdet - INFO - Epoch [2][780/3517]	lr: 4.979e-05, eta: 17:48:57, time: 0.802, data_time: 0.016, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.3154, debug_std_frame_0: 0.6436, debug_std_frame_1: 0.6481, debug_std_frame_2: 0.6714, debug_std_frame_3: 0.7110, debug_std_frame_4: 0.7483, debug_std_frame_5: 0.7658, loss_rl: -0.1204, loss_critic: 1.1488, loss_rl_bc: 0.0428, il_score: 0.4915, rl_score: 0.5037, prev_frame_loss_waypoint_0: 0.3703, prev_frame_loss_rl_bc_0: 0.0518, loss: 1.8191, grad_norm: 31.6669, il_score_sum: 47.7313, rl_score_sum: 46.8789, score_diff: 0.8523, il_win: 19.5714, rl_win: 7.0000
2025-09-24 01:24:01,761 - mmdet - INFO - Epoch [2][800/3517]	lr: 4.979e-05, eta: 17:48:42, time: 0.805, data_time: 0.015, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.3544, debug_std_frame_0: 0.6188, debug_std_frame_1: 0.6218, debug_std_frame_2: 0.6425, debug_std_frame_3: 0.6737, debug_std_frame_4: 0.7120, debug_std_frame_5: 0.7292, loss_rl: -0.1619, loss_critic: 1.0846, loss_rl_bc: 0.0565, il_score: 0.5237, rl_score: 0.4950, prev_frame_loss_waypoint_0: 0.3844, prev_frame_loss_rl_bc_0: 0.0602, loss: 1.7892, grad_norm: 35.0560, il_score_sum: 47.6556, rl_score_sum: 46.9017, score_diff: 0.7539, il_win: 19.6250, rl_win: 7.0000
2025-09-24 01:24:17,784 - mmdet - INFO - Epoch [2][820/3517]	lr: 4.979e-05, eta: 17:48:27, time: 0.801, data_time: 0.016, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.3436, debug_std_frame_0: 0.6616, debug_std_frame_1: 0.6644, debug_std_frame_2: 0.6860, debug_std_frame_3: 0.7081, debug_std_frame_4: 0.7439, debug_std_frame_5: 0.7628, loss_rl: -0.1541, loss_critic: 1.4901, loss_rl_bc: 0.0594, il_score: 0.5025, rl_score: 0.4839, prev_frame_loss_waypoint_0: 0.3778, prev_frame_loss_rl_bc_0: 0.0564, loss: 2.1825, grad_norm: 30.5523, il_score_sum: 47.6556, rl_score_sum: 46.9017, score_diff: 0.7539, il_win: 19.6250, rl_win: 7.0000
2025-09-24 01:24:33,842 - mmdet - INFO - Epoch [2][840/3517]	lr: 4.979e-05, eta: 17:48:11, time: 0.803, data_time: 0.016, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.3502, debug_std_frame_0: 0.6692, debug_std_frame_1: 0.6723, debug_std_frame_2: 0.6962, debug_std_frame_3: 0.7212, debug_std_frame_4: 0.7618, debug_std_frame_5: 0.7861, loss_rl: -0.1193, loss_critic: 1.2133, loss_rl_bc: 0.0557, il_score: 0.4493, rl_score: 0.4642, prev_frame_loss_waypoint_0: 0.3373, prev_frame_loss_rl_bc_0: 0.0589, loss: 1.9061, grad_norm: 33.1890, il_score_sum: 47.6556, rl_score_sum: 46.9017, score_diff: 0.7539, il_win: 19.6250, rl_win: 7.0000
2025-09-24 01:24:49,803 - mmdet - INFO - Epoch [2][860/3517]	lr: 4.979e-05, eta: 17:47:55, time: 0.799, data_time: 0.017, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.3920, debug_std_frame_0: 0.6557, debug_std_frame_1: 0.6567, debug_std_frame_2: 0.6763, debug_std_frame_3: 0.7007, debug_std_frame_4: 0.7384, debug_std_frame_5: 0.7619, loss_rl: -0.1455, loss_critic: 1.0554, loss_rl_bc: 0.0557, il_score: 0.4888, rl_score: 0.4842, prev_frame_loss_waypoint_0: 0.3974, prev_frame_loss_rl_bc_0: 0.0588, loss: 1.8247, grad_norm: 39.3150, il_score_sum: 47.6556, rl_score_sum: 46.9017, score_diff: 0.7539, il_win: 19.6250, rl_win: 7.0000
2025-09-24 01:25:05,580 - mmdet - INFO - Epoch [2][880/3517]	lr: 4.979e-05, eta: 17:47:34, time: 0.788, data_time: 0.014, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.3657, debug_std_frame_0: 0.6416, debug_std_frame_1: 0.6439, debug_std_frame_2: 0.6646, debug_std_frame_3: 0.6902, debug_std_frame_4: 0.7297, debug_std_frame_5: 0.7531, loss_rl: -0.1619, loss_critic: 1.4465, loss_rl_bc: 0.0507, il_score: 0.4679, rl_score: 0.4816, prev_frame_loss_waypoint_0: 0.4367, prev_frame_loss_rl_bc_0: 0.0580, loss: 2.2076, grad_norm: 33.0984, il_score_sum: 47.6556, rl_score_sum: 46.9017, score_diff: 0.7539, il_win: 19.6250, rl_win: 7.0000
2025-09-24 01:25:22,001 - mmdet - INFO - Epoch [2][900/3517]	lr: 4.979e-05, eta: 17:47:26, time: 0.821, data_time: 0.016, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.3539, debug_std_frame_0: 0.6571, debug_std_frame_1: 0.6611, debug_std_frame_2: 0.6886, debug_std_frame_3: 0.7149, debug_std_frame_4: 0.7599, debug_std_frame_5: 0.7857, loss_rl: -0.1287, loss_critic: 1.2495, loss_rl_bc: 0.0517, il_score: 0.4872, rl_score: 0.4779, prev_frame_loss_waypoint_0: 0.3971, prev_frame_loss_rl_bc_0: 0.0654, loss: 2.0012, grad_norm: 37.2138, il_score_sum: 47.7757, rl_score_sum: 47.0629, score_diff: 0.7128, il_win: 19.6667, rl_win: 7.0000
2025-09-24 01:25:38,253 - mmdet - INFO - Epoch [2][920/3517]	lr: 4.979e-05, eta: 17:47:14, time: 0.813, data_time: 0.016, memory: 8550, loss_rec: 0.0117, loss_waypoint: 0.3759, debug_std_frame_0: 0.6896, debug_std_frame_1: 0.6935, debug_std_frame_2: 0.7265, debug_std_frame_3: 0.7493, debug_std_frame_4: 0.7891, debug_std_frame_5: 0.8100, loss_rl: -0.1349, loss_critic: 1.0093, loss_rl_bc: 0.0552, il_score: 0.4763, rl_score: 0.4705, prev_frame_loss_waypoint_0: 0.4004, prev_frame_loss_rl_bc_0: 0.0617, loss: 1.7794, grad_norm: 40.6414, il_score_sum: 47.7757, rl_score_sum: 47.0629, score_diff: 0.7128, il_win: 19.6667, rl_win: 7.0000
2025-09-24 01:25:54,400 - mmdet - INFO - Epoch [2][940/3517]	lr: 4.979e-05, eta: 17:47:00, time: 0.808, data_time: 0.016, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.3401, debug_std_frame_0: 0.6589, debug_std_frame_1: 0.6630, debug_std_frame_2: 0.6973, debug_std_frame_3: 0.7218, debug_std_frame_4: 0.7629, debug_std_frame_5: 0.7878, loss_rl: -0.1969, loss_critic: 1.3293, loss_rl_bc: 0.0485, il_score: 0.5171, rl_score: 0.5142, prev_frame_loss_waypoint_0: 0.3817, prev_frame_loss_rl_bc_0: 0.0612, loss: 1.9744, grad_norm: 29.4738, il_score_sum: 47.7757, rl_score_sum: 47.0629, score_diff: 0.7128, il_win: 19.6667, rl_win: 7.0000
2025-09-24 01:26:10,213 - mmdet - INFO - Epoch [2][960/3517]	lr: 4.979e-05, eta: 17:46:41, time: 0.791, data_time: 0.014, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.3963, debug_std_frame_0: 0.6535, debug_std_frame_1: 0.6575, debug_std_frame_2: 0.6887, debug_std_frame_3: 0.7128, debug_std_frame_4: 0.7501, debug_std_frame_5: 0.7740, loss_rl: -0.1346, loss_critic: 1.2383, loss_rl_bc: 0.0515, il_score: 0.4615, rl_score: 0.4917, prev_frame_loss_waypoint_0: 0.4031, prev_frame_loss_rl_bc_0: 0.0512, loss: 2.0165, grad_norm: 39.7396, il_score_sum: 47.7757, rl_score_sum: 47.0629, score_diff: 0.7128, il_win: 19.6667, rl_win: 7.0000
2025-09-24 01:26:26,100 - mmdet - INFO - Epoch [2][980/3517]	lr: 4.979e-05, eta: 17:46:22, time: 0.794, data_time: 0.015, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.3540, debug_std_frame_0: 0.5958, debug_std_frame_1: 0.5992, debug_std_frame_2: 0.6258, debug_std_frame_3: 0.6452, debug_std_frame_4: 0.6803, debug_std_frame_5: 0.7036, loss_rl: -0.1987, loss_critic: 1.2892, loss_rl_bc: 0.0420, il_score: 0.5241, rl_score: 0.5504, prev_frame_loss_waypoint_0: 0.3745, prev_frame_loss_rl_bc_0: 0.0505, loss: 1.9230, grad_norm: 39.0305, il_score_sum: 47.7757, rl_score_sum: 47.0629, score_diff: 0.7128, il_win: 19.6667, rl_win: 7.0000
2025-09-24 01:26:42,218 - mmdet - INFO - Epoch [2][1000/3517]	lr: 4.979e-05, eta: 17:46:08, time: 0.806, data_time: 0.015, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.3476, debug_std_frame_0: 0.5670, debug_std_frame_1: 0.5704, debug_std_frame_2: 0.6002, debug_std_frame_3: 0.6219, debug_std_frame_4: 0.6632, debug_std_frame_5: 0.6927, loss_rl: -0.1622, loss_critic: 1.4586, loss_rl_bc: 0.0492, il_score: 0.5030, rl_score: 0.5130, prev_frame_loss_waypoint_0: 0.3567, prev_frame_loss_rl_bc_0: 0.0524, loss: 2.1134, grad_norm: 39.0599, il_score_sum: 47.9412, rl_score_sum: 47.3806, score_diff: 0.5605, il_win: 19.7000, rl_win: 7.0000
2025-09-24 01:26:58,085 - mmdet - INFO - Epoch [2][1020/3517]	lr: 4.979e-05, eta: 17:45:50, time: 0.794, data_time: 0.017, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.3420, debug_std_frame_0: 0.6077, debug_std_frame_1: 0.6111, debug_std_frame_2: 0.6412, debug_std_frame_3: 0.6618, debug_std_frame_4: 0.6976, debug_std_frame_5: 0.7273, loss_rl: -0.1410, loss_critic: 1.3724, loss_rl_bc: 0.0555, il_score: 0.5125, rl_score: 0.5020, prev_frame_loss_waypoint_0: 0.3956, prev_frame_loss_rl_bc_0: 0.0535, loss: 2.0880, grad_norm: 34.4177, il_score_sum: 47.9412, rl_score_sum: 47.3806, score_diff: 0.5605, il_win: 19.7000, rl_win: 7.0000
2025-09-24 01:27:13,955 - mmdet - INFO - Epoch [2][1040/3517]	lr: 4.979e-05, eta: 17:45:31, time: 0.793, data_time: 0.015, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.3200, debug_std_frame_0: 0.6123, debug_std_frame_1: 0.6186, debug_std_frame_2: 0.6532, debug_std_frame_3: 0.6851, debug_std_frame_4: 0.7283, debug_std_frame_5: 0.7580, loss_rl: -0.1951, loss_critic: 1.1338, loss_rl_bc: 0.0482, il_score: 0.5353, rl_score: 0.5018, prev_frame_loss_waypoint_0: 0.3491, prev_frame_loss_rl_bc_0: 0.0537, loss: 1.7204, grad_norm: 33.0963, il_score_sum: 47.9412, rl_score_sum: 47.3806, score_diff: 0.5605, il_win: 19.7000, rl_win: 7.0000
2025-09-24 01:27:29,769 - mmdet - INFO - Epoch [2][1060/3517]	lr: 4.979e-05, eta: 17:45:12, time: 0.791, data_time: 0.016, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2982, debug_std_frame_0: 0.5793, debug_std_frame_1: 0.5859, debug_std_frame_2: 0.6149, debug_std_frame_3: 0.6475, debug_std_frame_4: 0.6940, debug_std_frame_5: 0.7269, loss_rl: -0.1388, loss_critic: 1.3865, loss_rl_bc: 0.0425, il_score: 0.5296, rl_score: 0.5274, prev_frame_loss_waypoint_0: 0.3505, prev_frame_loss_rl_bc_0: 0.0549, loss: 2.0046, grad_norm: 37.2542, il_score_sum: 47.9412, rl_score_sum: 47.3806, score_diff: 0.5605, il_win: 19.7000, rl_win: 7.0000
2025-09-24 01:27:45,745 - mmdet - INFO - Epoch [2][1080/3517]	lr: 4.979e-05, eta: 17:44:55, time: 0.799, data_time: 0.015, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.3011, debug_std_frame_0: 0.5908, debug_std_frame_1: 0.5961, debug_std_frame_2: 0.6246, debug_std_frame_3: 0.6577, debug_std_frame_4: 0.7122, debug_std_frame_5: 0.7455, loss_rl: -0.1202, loss_critic: 1.1212, loss_rl_bc: 0.0461, il_score: 0.5076, rl_score: 0.4835, prev_frame_loss_waypoint_0: 0.3332, prev_frame_loss_rl_bc_0: 0.0482, loss: 1.7413, grad_norm: 32.6022, il_score_sum: 47.9412, rl_score_sum: 47.3806, score_diff: 0.5605, il_win: 19.7000, rl_win: 7.0000
2025-09-24 01:28:01,731 - mmdet - INFO - Epoch [2][1100/3517]	lr: 4.979e-05, eta: 17:44:38, time: 0.799, data_time: 0.016, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.3467, debug_std_frame_0: 0.5863, debug_std_frame_1: 0.5945, debug_std_frame_2: 0.6212, debug_std_frame_3: 0.6534, debug_std_frame_4: 0.7006, debug_std_frame_5: 0.7322, loss_rl: -0.1357, loss_critic: 1.0946, loss_rl_bc: 0.0586, il_score: 0.5103, rl_score: 0.4797, prev_frame_loss_waypoint_0: 0.3265, prev_frame_loss_rl_bc_0: 0.0572, loss: 1.7595, grad_norm: 39.2673, il_score_sum: 48.3103, rl_score_sum: 47.6632, score_diff: 0.6472, il_win: 19.8182, rl_win: 7.0000
2025-09-24 01:28:17,640 - mmdet - INFO - Epoch [2][1120/3517]	lr: 4.979e-05, eta: 17:44:21, time: 0.796, data_time: 0.015, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.3326, debug_std_frame_0: 0.6475, debug_std_frame_1: 0.6535, debug_std_frame_2: 0.6842, debug_std_frame_3: 0.7133, debug_std_frame_4: 0.7529, debug_std_frame_5: 0.7790, loss_rl: -0.1679, loss_critic: 1.3182, loss_rl_bc: 0.0489, il_score: 0.5175, rl_score: 0.5427, prev_frame_loss_waypoint_0: 0.3663, prev_frame_loss_rl_bc_0: 0.0533, loss: 1.9609, grad_norm: 31.8673, il_score_sum: 48.3103, rl_score_sum: 47.6632, score_diff: 0.6472, il_win: 19.8182, rl_win: 7.0000
2025-09-24 01:28:33,479 - mmdet - INFO - Epoch [2][1140/3517]	lr: 4.979e-05, eta: 17:44:02, time: 0.792, data_time: 0.015, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.3407, debug_std_frame_0: 0.6203, debug_std_frame_1: 0.6254, debug_std_frame_2: 0.6514, debug_std_frame_3: 0.6781, debug_std_frame_4: 0.7138, debug_std_frame_5: 0.7388, loss_rl: -0.1660, loss_critic: 1.3739, loss_rl_bc: 0.0521, il_score: 0.5223, rl_score: 0.5242, prev_frame_loss_waypoint_0: 0.3550, prev_frame_loss_rl_bc_0: 0.0514, loss: 2.0174, grad_norm: 40.4632, il_score_sum: 48.3103, rl_score_sum: 47.6632, score_diff: 0.6472, il_win: 19.8182, rl_win: 7.0000
2025-09-24 01:28:49,419 - mmdet - INFO - Epoch [2][1160/3517]	lr: 4.979e-05, eta: 17:43:44, time: 0.797, data_time: 0.015, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.3227, debug_std_frame_0: 0.6053, debug_std_frame_1: 0.6097, debug_std_frame_2: 0.6390, debug_std_frame_3: 0.6677, debug_std_frame_4: 0.7095, debug_std_frame_5: 0.7360, loss_rl: -0.2053, loss_critic: 1.4121, loss_rl_bc: 0.0449, il_score: 0.5283, rl_score: 0.5376, prev_frame_loss_waypoint_0: 0.3357, prev_frame_loss_rl_bc_0: 0.0476, loss: 1.9680, grad_norm: 35.0895, il_score_sum: 48.3103, rl_score_sum: 47.6632, score_diff: 0.6472, il_win: 19.8182, rl_win: 7.0000
2025-09-24 01:29:05,275 - mmdet - INFO - Epoch [2][1180/3517]	lr: 4.979e-05, eta: 17:43:26, time: 0.793, data_time: 0.015, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.3049, debug_std_frame_0: 0.5581, debug_std_frame_1: 0.5595, debug_std_frame_2: 0.5868, debug_std_frame_3: 0.6141, debug_std_frame_4: 0.6611, debug_std_frame_5: 0.6968, loss_rl: -0.1876, loss_critic: 1.3406, loss_rl_bc: 0.0416, il_score: 0.5376, rl_score: 0.5399, prev_frame_loss_waypoint_0: 0.3289, prev_frame_loss_rl_bc_0: 0.0433, loss: 1.8828, grad_norm: 35.1100, il_score_sum: 48.3103, rl_score_sum: 47.6632, score_diff: 0.6472, il_win: 19.8182, rl_win: 7.0000
2025-09-24 01:29:21,180 - mmdet - INFO - Epoch [2][1200/3517]	lr: 4.979e-05, eta: 17:43:08, time: 0.795, data_time: 0.015, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.3223, debug_std_frame_0: 0.5464, debug_std_frame_1: 0.5486, debug_std_frame_2: 0.5722, debug_std_frame_3: 0.5990, debug_std_frame_4: 0.6402, debug_std_frame_5: 0.6754, loss_rl: -0.1562, loss_critic: 1.0214, loss_rl_bc: 0.0455, il_score: 0.5063, rl_score: 0.5087, prev_frame_loss_waypoint_0: 0.3535, prev_frame_loss_rl_bc_0: 0.0536, loss: 1.6500, grad_norm: 45.1037, il_score_sum: 48.6240, rl_score_sum: 48.0556, score_diff: 0.5684, il_win: 19.9167, rl_win: 7.0000
2025-09-24 01:29:37,227 - mmdet - INFO - Epoch [2][1220/3517]	lr: 4.979e-05, eta: 17:42:53, time: 0.803, data_time: 0.016, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.3410, debug_std_frame_0: 0.5100, debug_std_frame_1: 0.5154, debug_std_frame_2: 0.5410, debug_std_frame_3: 0.5690, debug_std_frame_4: 0.6092, debug_std_frame_5: 0.6428, loss_rl: -0.1794, loss_critic: 1.5509, loss_rl_bc: 0.0444, il_score: 0.4950, rl_score: 0.5258, prev_frame_loss_waypoint_0: 0.3487, prev_frame_loss_rl_bc_0: 0.0459, loss: 2.1624, grad_norm: 38.9198, il_score_sum: 48.6240, rl_score_sum: 48.0556, score_diff: 0.5684, il_win: 19.9167, rl_win: 7.0000
2025-09-24 01:29:53,276 - mmdet - INFO - Epoch [2][1240/3517]	lr: 4.979e-05, eta: 17:42:38, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.3266, debug_std_frame_0: 0.5675, debug_std_frame_1: 0.5746, debug_std_frame_2: 0.6058, debug_std_frame_3: 0.6357, debug_std_frame_4: 0.6762, debug_std_frame_5: 0.7064, loss_rl: -0.1577, loss_critic: 1.4743, loss_rl_bc: 0.0427, il_score: 0.4831, rl_score: 0.5176, prev_frame_loss_waypoint_0: 0.3646, prev_frame_loss_rl_bc_0: 0.0503, loss: 2.1102, grad_norm: 39.1968, il_score_sum: 48.6240, rl_score_sum: 48.0556, score_diff: 0.5684, il_win: 19.9167, rl_win: 7.0000
2025-09-24 01:30:09,289 - mmdet - INFO - Epoch [2][1260/3517]	lr: 4.979e-05, eta: 17:42:21, time: 0.800, data_time: 0.015, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.4081, debug_std_frame_0: 0.6234, debug_std_frame_1: 0.6282, debug_std_frame_2: 0.6622, debug_std_frame_3: 0.6905, debug_std_frame_4: 0.7306, debug_std_frame_5: 0.7575, loss_rl: -0.1459, loss_critic: 1.3224, loss_rl_bc: 0.0651, il_score: 0.4793, rl_score: 0.4866, prev_frame_loss_waypoint_0: 0.4573, prev_frame_loss_rl_bc_0: 0.0806, loss: 2.1964, grad_norm: 52.8036, il_score_sum: 48.6240, rl_score_sum: 48.0556, score_diff: 0.5684, il_win: 19.9167, rl_win: 7.0000
2025-09-24 01:30:24,991 - mmdet - INFO - Epoch [2][1280/3517]	lr: 4.979e-05, eta: 17:42:00, time: 0.785, data_time: 0.014, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.3252, debug_std_frame_0: 0.6132, debug_std_frame_1: 0.6190, debug_std_frame_2: 0.6477, debug_std_frame_3: 0.6708, debug_std_frame_4: 0.6995, debug_std_frame_5: 0.7225, loss_rl: -0.1974, loss_critic: 1.4704, loss_rl_bc: 0.0437, il_score: 0.5057, rl_score: 0.4893, prev_frame_loss_waypoint_0: 0.3521, prev_frame_loss_rl_bc_0: 0.0481, loss: 2.0519, grad_norm: 40.3988, il_score_sum: 48.6240, rl_score_sum: 48.0556, score_diff: 0.5684, il_win: 19.9167, rl_win: 7.0000
2025-09-24 01:30:40,957 - mmdet - INFO - Epoch [2][1300/3517]	lr: 4.979e-05, eta: 17:41:44, time: 0.798, data_time: 0.015, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.3021, debug_std_frame_0: 0.6461, debug_std_frame_1: 0.6478, debug_std_frame_2: 0.6729, debug_std_frame_3: 0.6927, debug_std_frame_4: 0.7152, debug_std_frame_5: 0.7353, loss_rl: -0.1695, loss_critic: 1.4469, loss_rl_bc: 0.0448, il_score: 0.5282, rl_score: 0.5170, prev_frame_loss_waypoint_0: 0.3425, prev_frame_loss_rl_bc_0: 0.0531, loss: 2.0313, grad_norm: 33.0401, il_score_sum: 48.6836, rl_score_sum: 48.2382, score_diff: 0.4454, il_win: 20.0000, rl_win: 7.0769
2025-09-24 01:30:57,011 - mmdet - INFO - Epoch [2][1320/3517]	lr: 4.979e-05, eta: 17:41:28, time: 0.803, data_time: 0.015, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.3613, debug_std_frame_0: 0.6098, debug_std_frame_1: 0.6131, debug_std_frame_2: 0.6443, debug_std_frame_3: 0.6762, debug_std_frame_4: 0.7088, debug_std_frame_5: 0.7327, loss_rl: -0.1093, loss_critic: 1.1112, loss_rl_bc: 0.0526, il_score: 0.5090, rl_score: 0.4849, prev_frame_loss_waypoint_0: 0.3211, prev_frame_loss_rl_bc_0: 0.0524, loss: 1.8004, grad_norm: 34.7320, il_score_sum: 48.6836, rl_score_sum: 48.2382, score_diff: 0.4454, il_win: 20.0000, rl_win: 7.0769
2025-09-24 01:31:13,107 - mmdet - INFO - Epoch [2][1340/3517]	lr: 4.979e-05, eta: 17:41:14, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.3856, debug_std_frame_0: 0.5958, debug_std_frame_1: 0.5999, debug_std_frame_2: 0.6326, debug_std_frame_3: 0.6673, debug_std_frame_4: 0.7033, debug_std_frame_5: 0.7300, loss_rl: -0.1219, loss_critic: 1.3240, loss_rl_bc: 0.0631, il_score: 0.4906, rl_score: 0.4397, prev_frame_loss_waypoint_0: 0.4099, prev_frame_loss_rl_bc_0: 0.0715, loss: 2.1434, grad_norm: 56.2195, il_score_sum: 48.6836, rl_score_sum: 48.2382, score_diff: 0.4454, il_win: 20.0000, rl_win: 7.0769
2025-09-24 01:31:28,817 - mmdet - INFO - Epoch [2][1360/3517]	lr: 4.979e-05, eta: 17:40:53, time: 0.786, data_time: 0.014, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.3398, debug_std_frame_0: 0.7279, debug_std_frame_1: 0.7379, debug_std_frame_2: 0.7754, debug_std_frame_3: 0.8117, debug_std_frame_4: 0.8420, debug_std_frame_5: 0.8650, loss_rl: -0.0704, loss_critic: 0.8713, loss_rl_bc: 0.0642, il_score: 0.5164, rl_score: 0.4102, prev_frame_loss_waypoint_0: 0.3652, prev_frame_loss_rl_bc_0: 0.0726, loss: 1.6532, grad_norm: 42.9149, il_score_sum: 48.6836, rl_score_sum: 48.2382, score_diff: 0.4454, il_win: 20.0000, rl_win: 7.0769
2025-09-24 01:31:44,635 - mmdet - INFO - Epoch [2][1380/3517]	lr: 4.979e-05, eta: 17:40:34, time: 0.790, data_time: 0.014, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.3335, debug_std_frame_0: 0.7247, debug_std_frame_1: 0.7383, debug_std_frame_2: 0.7755, debug_std_frame_3: 0.8131, debug_std_frame_4: 0.8455, debug_std_frame_5: 0.8712, loss_rl: -0.1674, loss_critic: 1.1919, loss_rl_bc: 0.0591, il_score: 0.5488, rl_score: 0.4772, prev_frame_loss_waypoint_0: 0.3261, prev_frame_loss_rl_bc_0: 0.0623, loss: 1.8156, grad_norm: 40.6014, il_score_sum: 48.6836, rl_score_sum: 48.2382, score_diff: 0.4454, il_win: 20.0000, rl_win: 7.0769
2025-09-24 01:32:00,690 - mmdet - INFO - Epoch [2][1400/3517]	lr: 4.979e-05, eta: 17:40:19, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.3310, debug_std_frame_0: 0.7010, debug_std_frame_1: 0.7118, debug_std_frame_2: 0.7431, debug_std_frame_3: 0.7750, debug_std_frame_4: 0.8049, debug_std_frame_5: 0.8315, loss_rl: -0.1943, loss_critic: 1.0805, loss_rl_bc: 0.0492, il_score: 0.5099, rl_score: 0.5426, prev_frame_loss_waypoint_0: 0.3631, prev_frame_loss_rl_bc_0: 0.0535, loss: 1.6919, grad_norm: 54.5928, il_score_sum: 48.9417, rl_score_sum: 48.1556, score_diff: 0.7860, il_win: 20.1429, rl_win: 7.1429
2025-09-24 01:32:16,577 - mmdet - INFO - Epoch [2][1420/3517]	lr: 4.979e-05, eta: 17:40:01, time: 0.794, data_time: 0.015, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.4208, debug_std_frame_0: 0.6880, debug_std_frame_1: 0.6961, debug_std_frame_2: 0.7258, debug_std_frame_3: 0.7555, debug_std_frame_4: 0.7868, debug_std_frame_5: 0.8113, loss_rl: -0.1896, loss_critic: 1.3348, loss_rl_bc: 0.0513, il_score: 0.4582, rl_score: 0.4839, prev_frame_loss_waypoint_0: 0.4585, prev_frame_loss_rl_bc_0: 0.0664, loss: 2.1521, grad_norm: 51.5689, il_score_sum: 48.9417, rl_score_sum: 48.1556, score_diff: 0.7860, il_win: 20.1429, rl_win: 7.1429
2025-09-24 01:32:32,464 - mmdet - INFO - Epoch [2][1440/3517]	lr: 4.979e-05, eta: 17:39:43, time: 0.794, data_time: 0.014, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.3379, debug_std_frame_0: 0.6350, debug_std_frame_1: 0.6442, debug_std_frame_2: 0.6765, debug_std_frame_3: 0.7117, debug_std_frame_4: 0.7455, debug_std_frame_5: 0.7743, loss_rl: -0.1403, loss_critic: 0.9460, loss_rl_bc: 0.0478, il_score: 0.5328, rl_score: 0.5154, prev_frame_loss_waypoint_0: 0.3681, prev_frame_loss_rl_bc_0: 0.0599, loss: 1.6307, grad_norm: 33.7241, il_score_sum: 48.9417, rl_score_sum: 48.1556, score_diff: 0.7860, il_win: 20.1429, rl_win: 7.1429
2025-09-24 01:32:48,496 - mmdet - INFO - Epoch [2][1460/3517]	lr: 4.979e-05, eta: 17:39:27, time: 0.802, data_time: 0.014, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.3317, debug_std_frame_0: 0.5939, debug_std_frame_1: 0.6023, debug_std_frame_2: 0.6320, debug_std_frame_3: 0.6640, debug_std_frame_4: 0.7045, debug_std_frame_5: 0.7323, loss_rl: -0.1608, loss_critic: 1.5123, loss_rl_bc: 0.0527, il_score: 0.5360, rl_score: 0.4992, prev_frame_loss_waypoint_0: 0.3560, prev_frame_loss_rl_bc_0: 0.0597, loss: 2.1628, grad_norm: 45.6317, il_score_sum: 48.9417, rl_score_sum: 48.1556, score_diff: 0.7860, il_win: 20.1429, rl_win: 7.1429
2025-09-24 01:33:04,523 - mmdet - INFO - Epoch [2][1480/3517]	lr: 4.979e-05, eta: 17:39:11, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.3081, debug_std_frame_0: 0.6139, debug_std_frame_1: 0.6198, debug_std_frame_2: 0.6449, debug_std_frame_3: 0.6728, debug_std_frame_4: 0.7085, debug_std_frame_5: 0.7378, loss_rl: -0.2087, loss_critic: 1.3606, loss_rl_bc: 0.0403, il_score: 0.5415, rl_score: 0.5501, prev_frame_loss_waypoint_0: 0.3131, prev_frame_loss_rl_bc_0: 0.0458, loss: 1.8702, grad_norm: 42.9761, il_score_sum: 48.9417, rl_score_sum: 48.1556, score_diff: 0.7860, il_win: 20.1429, rl_win: 7.1429
2025-09-24 01:33:20,492 - mmdet - INFO - Epoch [2][1500/3517]	lr: 4.979e-05, eta: 17:38:55, time: 0.799, data_time: 0.015, memory: 8550, loss_rec: 0.0114, loss_waypoint: 0.2837, debug_std_frame_0: 0.6050, debug_std_frame_1: 0.6109, debug_std_frame_2: 0.6397, debug_std_frame_3: 0.6691, debug_std_frame_4: 0.7117, debug_std_frame_5: 0.7444, loss_rl: -0.1407, loss_critic: 1.2843, loss_rl_bc: 0.0514, il_score: 0.5208, rl_score: 0.4953, prev_frame_loss_waypoint_0: 0.3343, prev_frame_loss_rl_bc_0: 0.0518, loss: 1.8763, grad_norm: 39.0344, il_score_sum: 49.1029, rl_score_sum: 48.3903, score_diff: 0.7126, il_win: 20.2667, rl_win: 7.2000
2025-09-24 01:33:36,433 - mmdet - INFO - Epoch [2][1520/3517]	lr: 4.979e-05, eta: 17:38:38, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2838, debug_std_frame_0: 0.5842, debug_std_frame_1: 0.5923, debug_std_frame_2: 0.6234, debug_std_frame_3: 0.6533, debug_std_frame_4: 0.7017, debug_std_frame_5: 0.7344, loss_rl: -0.1622, loss_critic: 1.2469, loss_rl_bc: 0.0445, il_score: 0.5513, rl_score: 0.5055, prev_frame_loss_waypoint_0: 0.3192, prev_frame_loss_rl_bc_0: 0.0522, loss: 1.7950, grad_norm: 37.3896, il_score_sum: 49.1029, rl_score_sum: 48.3903, score_diff: 0.7126, il_win: 20.2667, rl_win: 7.2000
2025-09-24 01:33:52,339 - mmdet - INFO - Epoch [2][1540/3517]	lr: 4.979e-05, eta: 17:38:20, time: 0.795, data_time: 0.014, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.3287, debug_std_frame_0: 0.5995, debug_std_frame_1: 0.6027, debug_std_frame_2: 0.6259, debug_std_frame_3: 0.6476, debug_std_frame_4: 0.6880, debug_std_frame_5: 0.7142, loss_rl: -0.2344, loss_critic: 1.6151, loss_rl_bc: 0.0443, il_score: 0.5443, rl_score: 0.5797, prev_frame_loss_waypoint_0: 0.3848, prev_frame_loss_rl_bc_0: 0.0605, loss: 2.2102, grad_norm: 47.6448, il_score_sum: 49.1029, rl_score_sum: 48.3903, score_diff: 0.7126, il_win: 20.2667, rl_win: 7.2000
2025-09-24 01:34:08,449 - mmdet - INFO - Epoch [2][1560/3517]	lr: 4.979e-05, eta: 17:38:06, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.3197, debug_std_frame_0: 0.5689, debug_std_frame_1: 0.5754, debug_std_frame_2: 0.6008, debug_std_frame_3: 0.6282, debug_std_frame_4: 0.6791, debug_std_frame_5: 0.7161, loss_rl: -0.1202, loss_critic: 1.1799, loss_rl_bc: 0.0469, il_score: 0.4998, rl_score: 0.5108, prev_frame_loss_waypoint_0: 0.3353, prev_frame_loss_rl_bc_0: 0.0520, loss: 1.8240, grad_norm: 37.8391, il_score_sum: 49.1029, rl_score_sum: 48.3903, score_diff: 0.7126, il_win: 20.2667, rl_win: 7.2000
2025-09-24 01:34:24,439 - mmdet - INFO - Epoch [2][1580/3517]	lr: 4.979e-05, eta: 17:37:50, time: 0.800, data_time: 0.015, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.3225, debug_std_frame_0: 0.5639, debug_std_frame_1: 0.5716, debug_std_frame_2: 0.5996, debug_std_frame_3: 0.6243, debug_std_frame_4: 0.6751, debug_std_frame_5: 0.7109, loss_rl: -0.1386, loss_critic: 1.2112, loss_rl_bc: 0.0503, il_score: 0.5135, rl_score: 0.5095, prev_frame_loss_waypoint_0: 0.3465, prev_frame_loss_rl_bc_0: 0.0538, loss: 1.8553, grad_norm: 46.1522, il_score_sum: 49.1029, rl_score_sum: 48.3903, score_diff: 0.7126, il_win: 20.2667, rl_win: 7.2000
2025-09-24 01:34:40,389 - mmdet - INFO - Epoch [2][1600/3517]	lr: 4.979e-05, eta: 17:37:33, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0114, loss_waypoint: 0.3713, debug_std_frame_0: 0.5613, debug_std_frame_1: 0.5692, debug_std_frame_2: 0.5932, debug_std_frame_3: 0.6171, debug_std_frame_4: 0.6621, debug_std_frame_5: 0.6968, loss_rl: -0.1257, loss_critic: 1.2912, loss_rl_bc: 0.0519, il_score: 0.4828, rl_score: 0.4953, prev_frame_loss_waypoint_0: 0.3689, prev_frame_loss_rl_bc_0: 0.0486, loss: 2.0177, grad_norm: 45.5844, il_score_sum: 49.3212, rl_score_sum: 48.6232, score_diff: 0.6980, il_win: 20.3750, rl_win: 7.2500
2025-09-24 01:34:56,281 - mmdet - INFO - Epoch [2][1620/3517]	lr: 4.979e-05, eta: 17:37:15, time: 0.795, data_time: 0.014, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.3177, debug_std_frame_0: 0.5689, debug_std_frame_1: 0.5758, debug_std_frame_2: 0.5995, debug_std_frame_3: 0.6206, debug_std_frame_4: 0.6606, debug_std_frame_5: 0.6937, loss_rl: -0.2030, loss_critic: 1.5386, loss_rl_bc: 0.0412, il_score: 0.5043, rl_score: 0.5489, prev_frame_loss_waypoint_0: 0.3538, prev_frame_loss_rl_bc_0: 0.0424, loss: 2.1013, grad_norm: 44.3615, il_score_sum: 49.3212, rl_score_sum: 48.6232, score_diff: 0.6980, il_win: 20.3750, rl_win: 7.2500
2025-09-24 01:35:12,225 - mmdet - INFO - Epoch [2][1640/3517]	lr: 4.979e-05, eta: 17:36:58, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.3730, debug_std_frame_0: 0.5247, debug_std_frame_1: 0.5321, debug_std_frame_2: 0.5542, debug_std_frame_3: 0.5745, debug_std_frame_4: 0.6197, debug_std_frame_5: 0.6578, loss_rl: -0.1794, loss_critic: 1.1918, loss_rl_bc: 0.0420, il_score: 0.4765, rl_score: 0.5403, prev_frame_loss_waypoint_0: 0.4047, prev_frame_loss_rl_bc_0: 0.0482, loss: 1.8900, grad_norm: 40.8586, il_score_sum: 49.3212, rl_score_sum: 48.6232, score_diff: 0.6980, il_win: 20.3750, rl_win: 7.2500
2025-09-24 01:35:28,119 - mmdet - INFO - Epoch [2][1660/3517]	lr: 4.979e-05, eta: 17:36:40, time: 0.795, data_time: 0.014, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2853, debug_std_frame_0: 0.5439, debug_std_frame_1: 0.5533, debug_std_frame_2: 0.5765, debug_std_frame_3: 0.6023, debug_std_frame_4: 0.6439, debug_std_frame_5: 0.6848, loss_rl: -0.1659, loss_critic: 1.2421, loss_rl_bc: 0.0388, il_score: 0.5465, rl_score: 0.5528, prev_frame_loss_waypoint_0: 0.3390, prev_frame_loss_rl_bc_0: 0.0546, loss: 1.8042, grad_norm: 35.1338, il_score_sum: 49.3212, rl_score_sum: 48.6232, score_diff: 0.6980, il_win: 20.3750, rl_win: 7.2500
2025-09-24 01:35:43,844 - mmdet - INFO - Epoch [2][1680/3517]	lr: 4.979e-05, eta: 17:36:20, time: 0.786, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.3373, debug_std_frame_0: 0.5434, debug_std_frame_1: 0.5544, debug_std_frame_2: 0.5809, debug_std_frame_3: 0.6164, debug_std_frame_4: 0.6643, debug_std_frame_5: 0.7029, loss_rl: -0.1289, loss_critic: 1.3449, loss_rl_bc: 0.0484, il_score: 0.5050, rl_score: 0.5163, prev_frame_loss_waypoint_0: 0.3381, prev_frame_loss_rl_bc_0: 0.0475, loss: 1.9979, grad_norm: 41.8822, il_score_sum: 49.3212, rl_score_sum: 48.6232, score_diff: 0.6980, il_win: 20.3750, rl_win: 7.2500
2025-09-24 01:35:59,596 - mmdet - INFO - Epoch [2][1700/3517]	lr: 4.979e-05, eta: 17:36:00, time: 0.788, data_time: 0.015, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.3132, debug_std_frame_0: 0.5279, debug_std_frame_1: 0.5386, debug_std_frame_2: 0.5697, debug_std_frame_3: 0.6058, debug_std_frame_4: 0.6602, debug_std_frame_5: 0.7034, loss_rl: -0.1840, loss_critic: 1.4399, loss_rl_bc: 0.0406, il_score: 0.5167, rl_score: 0.5261, prev_frame_loss_waypoint_0: 0.3433, prev_frame_loss_rl_bc_0: 0.0448, loss: 2.0078, grad_norm: 43.3083, il_score_sum: 49.3669, rl_score_sum: 48.8700, score_diff: 0.4969, il_win: 20.4706, rl_win: 7.3529
2025-09-24 01:36:15,619 - mmdet - INFO - Epoch [2][1720/3517]	lr: 4.979e-05, eta: 17:35:45, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.3483, debug_std_frame_0: 0.4941, debug_std_frame_1: 0.5043, debug_std_frame_2: 0.5375, debug_std_frame_3: 0.5768, debug_std_frame_4: 0.6395, debug_std_frame_5: 0.6894, loss_rl: -0.1133, loss_critic: 1.2613, loss_rl_bc: 0.0504, il_score: 0.4676, rl_score: 0.4912, prev_frame_loss_waypoint_0: 0.3651, prev_frame_loss_rl_bc_0: 0.0556, loss: 1.9775, grad_norm: 52.3369, il_score_sum: 49.3669, rl_score_sum: 48.8700, score_diff: 0.4969, il_win: 20.4706, rl_win: 7.3529
2025-09-24 01:36:31,479 - mmdet - INFO - Epoch [2][1740/3517]	lr: 4.979e-05, eta: 17:35:27, time: 0.793, data_time: 0.014, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.3411, debug_std_frame_0: 0.5156, debug_std_frame_1: 0.5283, debug_std_frame_2: 0.5581, debug_std_frame_3: 0.5970, debug_std_frame_4: 0.6560, debug_std_frame_5: 0.7000, loss_rl: -0.1583, loss_critic: 1.2912, loss_rl_bc: 0.0428, il_score: 0.5324, rl_score: 0.5353, prev_frame_loss_waypoint_0: 0.3504, prev_frame_loss_rl_bc_0: 0.0439, loss: 1.9208, grad_norm: 51.8697, il_score_sum: 49.3669, rl_score_sum: 48.8700, score_diff: 0.4969, il_win: 20.4706, rl_win: 7.3529
2025-09-24 01:36:47,183 - mmdet - INFO - Epoch [2][1760/3517]	lr: 4.979e-05, eta: 17:35:06, time: 0.785, data_time: 0.014, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.3680, debug_std_frame_0: 0.5066, debug_std_frame_1: 0.5190, debug_std_frame_2: 0.5499, debug_std_frame_3: 0.5911, debug_std_frame_4: 0.6496, debug_std_frame_5: 0.6968, loss_rl: -0.1732, loss_critic: 1.2328, loss_rl_bc: 0.0475, il_score: 0.4915, rl_score: 0.5300, prev_frame_loss_waypoint_0: 0.3824, prev_frame_loss_rl_bc_0: 0.0493, loss: 1.9154, grad_norm: 58.5910, il_score_sum: 49.3669, rl_score_sum: 48.8700, score_diff: 0.4969, il_win: 20.4706, rl_win: 7.3529
2025-09-24 01:37:02,895 - mmdet - INFO - Epoch [2][1780/3517]	lr: 4.979e-05, eta: 17:34:46, time: 0.785, data_time: 0.014, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.3413, debug_std_frame_0: 0.4567, debug_std_frame_1: 0.4685, debug_std_frame_2: 0.5009, debug_std_frame_3: 0.5442, debug_std_frame_4: 0.6079, debug_std_frame_5: 0.6560, loss_rl: -0.1159, loss_critic: 1.0646, loss_rl_bc: 0.0445, il_score: 0.5133, rl_score: 0.5195, prev_frame_loss_waypoint_0: 0.3345, prev_frame_loss_rl_bc_0: 0.0456, loss: 1.7238, grad_norm: 48.7304, il_score_sum: 49.3669, rl_score_sum: 48.8700, score_diff: 0.4969, il_win: 20.4706, rl_win: 7.3529
2025-09-24 01:37:18,740 - mmdet - INFO - Epoch [2][1800/3517]	lr: 4.979e-05, eta: 17:34:27, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2970, debug_std_frame_0: 0.4925, debug_std_frame_1: 0.5052, debug_std_frame_2: 0.5380, debug_std_frame_3: 0.5768, debug_std_frame_4: 0.6298, debug_std_frame_5: 0.6784, loss_rl: -0.1613, loss_critic: 1.2274, loss_rl_bc: 0.0388, il_score: 0.5439, rl_score: 0.5371, prev_frame_loss_waypoint_0: 0.3064, prev_frame_loss_rl_bc_0: 0.0441, loss: 1.7629, grad_norm: 46.2485, il_score_sum: 49.4364, rl_score_sum: 49.0591, score_diff: 0.3772, il_win: 20.5556, rl_win: 7.5000
2025-09-24 01:37:34,635 - mmdet - INFO - Epoch [2][1820/3517]	lr: 4.979e-05, eta: 17:34:10, time: 0.794, data_time: 0.014, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.3735, debug_std_frame_0: 0.5697, debug_std_frame_1: 0.5874, debug_std_frame_2: 0.6292, debug_std_frame_3: 0.6690, debug_std_frame_4: 0.7192, debug_std_frame_5: 0.7623, loss_rl: -0.0833, loss_critic: 0.9761, loss_rl_bc: 0.0597, il_score: 0.4450, rl_score: 0.3996, prev_frame_loss_waypoint_0: 0.4221, prev_frame_loss_rl_bc_0: 0.0695, loss: 1.8275, grad_norm: 66.8186, il_score_sum: 49.4364, rl_score_sum: 49.0591, score_diff: 0.3772, il_win: 20.5556, rl_win: 7.5000
2025-09-24 01:37:50,489 - mmdet - INFO - Epoch [2][1840/3517]	lr: 4.979e-05, eta: 17:33:52, time: 0.793, data_time: 0.014, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.3699, debug_std_frame_0: 0.6608, debug_std_frame_1: 0.6884, debug_std_frame_2: 0.7204, debug_std_frame_3: 0.7561, debug_std_frame_4: 0.7983, debug_std_frame_5: 0.8318, loss_rl: -0.1317, loss_critic: 1.1472, loss_rl_bc: 0.0673, il_score: 0.4973, rl_score: 0.4574, prev_frame_loss_waypoint_0: 0.3200, prev_frame_loss_rl_bc_0: 0.0641, loss: 1.8471, grad_norm: 61.6351, il_score_sum: 49.4364, rl_score_sum: 49.0591, score_diff: 0.3772, il_win: 20.5556, rl_win: 7.5000
2025-09-24 01:38:06,331 - mmdet - INFO - Epoch [2][1860/3517]	lr: 4.979e-05, eta: 17:33:33, time: 0.792, data_time: 0.014, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.3120, debug_std_frame_0: 0.6339, debug_std_frame_1: 0.6575, debug_std_frame_2: 0.6940, debug_std_frame_3: 0.7307, debug_std_frame_4: 0.7791, debug_std_frame_5: 0.8181, loss_rl: -0.1695, loss_critic: 1.1663, loss_rl_bc: 0.0436, il_score: 0.5344, rl_score: 0.5116, prev_frame_loss_waypoint_0: 0.3504, prev_frame_loss_rl_bc_0: 0.0495, loss: 1.7619, grad_norm: 50.0720, il_score_sum: 49.4364, rl_score_sum: 49.0591, score_diff: 0.3772, il_win: 20.5556, rl_win: 7.5000
2025-09-24 01:38:21,952 - mmdet - INFO - Epoch [2][1880/3517]	lr: 4.979e-05, eta: 17:33:12, time: 0.781, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2939, debug_std_frame_0: 0.5440, debug_std_frame_1: 0.5605, debug_std_frame_2: 0.5977, debug_std_frame_3: 0.6369, debug_std_frame_4: 0.6843, debug_std_frame_5: 0.7236, loss_rl: -0.2045, loss_critic: 1.4551, loss_rl_bc: 0.0474, il_score: 0.5404, rl_score: 0.5011, prev_frame_loss_waypoint_0: 0.2999, prev_frame_loss_rl_bc_0: 0.0482, loss: 1.9498, grad_norm: 47.9166, il_score_sum: 49.4364, rl_score_sum: 49.0591, score_diff: 0.3772, il_win: 20.5556, rl_win: 7.5000
2025-09-24 01:38:37,928 - mmdet - INFO - Epoch [2][1900/3517]	lr: 4.979e-05, eta: 17:32:56, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2800, debug_std_frame_0: 0.5539, debug_std_frame_1: 0.5693, debug_std_frame_2: 0.6070, debug_std_frame_3: 0.6475, debug_std_frame_4: 0.6966, debug_std_frame_5: 0.7359, loss_rl: -0.1852, loss_critic: 1.4438, loss_rl_bc: 0.0378, il_score: 0.5478, rl_score: 0.5512, prev_frame_loss_waypoint_0: 0.3109, prev_frame_loss_rl_bc_0: 0.0398, loss: 1.9366, grad_norm: 47.4592, il_score_sum: 49.5219, rl_score_sum: 49.0036, score_diff: 0.5183, il_win: 20.6842, rl_win: 7.6316
2025-09-24 01:38:54,050 - mmdet - INFO - Epoch [2][1920/3517]	lr: 4.979e-05, eta: 17:32:41, time: 0.806, data_time: 0.014, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.3239, debug_std_frame_0: 0.4382, debug_std_frame_1: 0.4501, debug_std_frame_2: 0.4845, debug_std_frame_3: 0.5179, debug_std_frame_4: 0.5703, debug_std_frame_5: 0.6209, loss_rl: -0.1428, loss_critic: 1.1866, loss_rl_bc: 0.0413, il_score: 0.5279, rl_score: 0.5608, prev_frame_loss_waypoint_0: 0.3530, prev_frame_loss_rl_bc_0: 0.0412, loss: 1.8124, grad_norm: 66.4893, il_score_sum: 49.5219, rl_score_sum: 49.0036, score_diff: 0.5183, il_win: 20.6842, rl_win: 7.6316
2025-09-24 01:39:10,020 - mmdet - INFO - Epoch [2][1940/3517]	lr: 4.979e-05, eta: 17:32:25, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2798, debug_std_frame_0: 0.4083, debug_std_frame_1: 0.4188, debug_std_frame_2: 0.4508, debug_std_frame_3: 0.4788, debug_std_frame_4: 0.5278, debug_std_frame_5: 0.5791, loss_rl: -0.1500, loss_critic: 1.3193, loss_rl_bc: 0.0327, il_score: 0.5500, rl_score: 0.5730, prev_frame_loss_waypoint_0: 0.2895, prev_frame_loss_rl_bc_0: 0.0376, loss: 1.8186, grad_norm: 50.8145, il_score_sum: 49.5219, rl_score_sum: 49.0036, score_diff: 0.5183, il_win: 20.6842, rl_win: 7.6316
2025-09-24 01:39:25,874 - mmdet - INFO - Epoch [2][1960/3517]	lr: 4.979e-05, eta: 17:32:07, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.3075, debug_std_frame_0: 0.4292, debug_std_frame_1: 0.4469, debug_std_frame_2: 0.4837, debug_std_frame_3: 0.5106, debug_std_frame_4: 0.5604, debug_std_frame_5: 0.6042, loss_rl: -0.2043, loss_critic: 1.5888, loss_rl_bc: 0.0358, il_score: 0.5028, rl_score: 0.5593, prev_frame_loss_waypoint_0: 0.3426, prev_frame_loss_rl_bc_0: 0.0378, loss: 2.1171, grad_norm: 61.4270, il_score_sum: 49.5219, rl_score_sum: 49.0036, score_diff: 0.5183, il_win: 20.6842, rl_win: 7.6316
2025-09-24 01:39:41,809 - mmdet - INFO - Epoch [2][1980/3517]	lr: 4.979e-05, eta: 17:31:50, time: 0.797, data_time: 0.015, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.3268, debug_std_frame_0: 0.4377, debug_std_frame_1: 0.4576, debug_std_frame_2: 0.4997, debug_std_frame_3: 0.5286, debug_std_frame_4: 0.5813, debug_std_frame_5: 0.6292, loss_rl: -0.1767, loss_critic: 1.3372, loss_rl_bc: 0.0428, il_score: 0.4988, rl_score: 0.5459, prev_frame_loss_waypoint_0: 0.3412, prev_frame_loss_rl_bc_0: 0.0433, loss: 1.9237, grad_norm: 63.3536, il_score_sum: 49.5219, rl_score_sum: 49.0036, score_diff: 0.5183, il_win: 20.6842, rl_win: 7.6316
2025-09-24 01:39:57,809 - mmdet - INFO - Epoch [2][2000/3517]	lr: 4.979e-05, eta: 17:31:34, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2770, debug_std_frame_0: 0.4942, debug_std_frame_1: 0.5157, debug_std_frame_2: 0.5540, debug_std_frame_3: 0.5785, debug_std_frame_4: 0.6235, debug_std_frame_5: 0.6676, loss_rl: -0.1548, loss_critic: 1.2225, loss_rl_bc: 0.0460, il_score: 0.5643, rl_score: 0.5438, prev_frame_loss_waypoint_0: 0.3050, prev_frame_loss_rl_bc_0: 0.0501, loss: 1.7550, grad_norm: 53.1684, il_score_sum: 49.6814, rl_score_sum: 49.3584, score_diff: 0.3230, il_win: 20.8000, rl_win: 7.8000
2025-09-24 01:40:13,605 - mmdet - INFO - Epoch [2][2020/3517]	lr: 4.979e-05, eta: 17:31:15, time: 0.790, data_time: 0.014, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2914, debug_std_frame_0: 0.5584, debug_std_frame_1: 0.5809, debug_std_frame_2: 0.6106, debug_std_frame_3: 0.6315, debug_std_frame_4: 0.6777, debug_std_frame_5: 0.7119, loss_rl: -0.1629, loss_critic: 1.5012, loss_rl_bc: 0.0395, il_score: 0.5535, rl_score: 0.5409, prev_frame_loss_waypoint_0: 0.3141, prev_frame_loss_rl_bc_0: 0.0454, loss: 2.0386, grad_norm: 51.8165, il_score_sum: 49.6814, rl_score_sum: 49.3584, score_diff: 0.3230, il_win: 20.8000, rl_win: 7.8000
2025-09-24 01:40:29,523 - mmdet - INFO - Epoch [2][2040/3517]	lr: 4.979e-05, eta: 17:30:58, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.3291, debug_std_frame_0: 0.5178, debug_std_frame_1: 0.5334, debug_std_frame_2: 0.5562, debug_std_frame_3: 0.5715, debug_std_frame_4: 0.6062, debug_std_frame_5: 0.6397, loss_rl: -0.1904, loss_critic: 1.4255, loss_rl_bc: 0.0403, il_score: 0.5166, rl_score: 0.5270, prev_frame_loss_waypoint_0: 0.3445, prev_frame_loss_rl_bc_0: 0.0522, loss: 2.0111, grad_norm: 68.0153, il_score_sum: 49.6814, rl_score_sum: 49.3584, score_diff: 0.3230, il_win: 20.8000, rl_win: 7.8000
2025-09-24 01:40:45,482 - mmdet - INFO - Epoch [2][2060/3517]	lr: 4.979e-05, eta: 17:30:42, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2796, debug_std_frame_0: 0.4692, debug_std_frame_1: 0.4842, debug_std_frame_2: 0.5087, debug_std_frame_3: 0.5274, debug_std_frame_4: 0.5647, debug_std_frame_5: 0.6038, loss_rl: -0.1691, loss_critic: 1.4281, loss_rl_bc: 0.0325, il_score: 0.5357, rl_score: 0.5461, prev_frame_loss_waypoint_0: 0.3012, prev_frame_loss_rl_bc_0: 0.0335, loss: 1.9151, grad_norm: 41.7688, il_score_sum: 49.6814, rl_score_sum: 49.3584, score_diff: 0.3230, il_win: 20.8000, rl_win: 7.8000
2025-09-24 01:41:01,360 - mmdet - INFO - Epoch [2][2080/3517]	lr: 4.979e-05, eta: 17:30:24, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.3075, debug_std_frame_0: 0.4985, debug_std_frame_1: 0.5174, debug_std_frame_2: 0.5472, debug_std_frame_3: 0.5665, debug_std_frame_4: 0.6074, debug_std_frame_5: 0.6474, loss_rl: -0.1636, loss_critic: 1.2465, loss_rl_bc: 0.0371, il_score: 0.5189, rl_score: 0.5440, prev_frame_loss_waypoint_0: 0.3552, prev_frame_loss_rl_bc_0: 0.0415, loss: 1.8337, grad_norm: 56.8251, il_score_sum: 49.6814, rl_score_sum: 49.3584, score_diff: 0.3230, il_win: 20.8000, rl_win: 7.8000
2025-09-24 01:41:17,808 - mmdet - INFO - Epoch [2][2100/3517]	lr: 4.979e-05, eta: 17:30:15, time: 0.822, data_time: 0.014, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.3039, debug_std_frame_0: 0.4764, debug_std_frame_1: 0.4962, debug_std_frame_2: 0.5305, debug_std_frame_3: 0.5575, debug_std_frame_4: 0.6040, debug_std_frame_5: 0.6464, loss_rl: -0.1833, loss_critic: 1.2756, loss_rl_bc: 0.0419, il_score: 0.5523, rl_score: 0.5490, prev_frame_loss_waypoint_0: 0.3407, prev_frame_loss_rl_bc_0: 0.0485, loss: 1.8361, grad_norm: 45.6119, il_score_sum: 50.1285, rl_score_sum: 49.8222, score_diff: 0.3062, il_win: 21.0500, rl_win: 8.0000
2025-09-24 01:41:33,758 - mmdet - INFO - Epoch [2][2120/3517]	lr: 4.979e-05, eta: 17:29:58, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2324, debug_std_frame_0: 0.4578, debug_std_frame_1: 0.4805, debug_std_frame_2: 0.5242, debug_std_frame_3: 0.5649, debug_std_frame_4: 0.6198, debug_std_frame_5: 0.6627, loss_rl: -0.1575, loss_critic: 1.3100, loss_rl_bc: 0.0330, il_score: 0.5583, rl_score: 0.5463, prev_frame_loss_waypoint_0: 0.2767, prev_frame_loss_rl_bc_0: 0.0389, loss: 1.7430, grad_norm: 46.7556, il_score_sum: 50.1285, rl_score_sum: 49.8222, score_diff: 0.3062, il_win: 21.0500, rl_win: 8.0000
2025-09-24 01:41:49,929 - mmdet - INFO - Epoch [2][2140/3517]	lr: 4.979e-05, eta: 17:29:44, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.3040, debug_std_frame_0: 0.4241, debug_std_frame_1: 0.4440, debug_std_frame_2: 0.4802, debug_std_frame_3: 0.5173, debug_std_frame_4: 0.5758, debug_std_frame_5: 0.6178, loss_rl: -0.1105, loss_critic: 1.3634, loss_rl_bc: 0.0407, il_score: 0.5342, rl_score: 0.5140, prev_frame_loss_waypoint_0: 0.2922, prev_frame_loss_rl_bc_0: 0.0454, loss: 1.9448, grad_norm: 57.0202, il_score_sum: 50.1285, rl_score_sum: 49.8222, score_diff: 0.3062, il_win: 21.0500, rl_win: 8.0000
2025-09-24 01:42:05,909 - mmdet - INFO - Epoch [2][2160/3517]	lr: 4.979e-05, eta: 17:29:28, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.3612, debug_std_frame_0: 0.5906, debug_std_frame_1: 0.6170, debug_std_frame_2: 0.6564, debug_std_frame_3: 0.6848, debug_std_frame_4: 0.7280, debug_std_frame_5: 0.7539, loss_rl: -0.1223, loss_critic: 1.2837, loss_rl_bc: 0.0832, il_score: 0.5104, rl_score: 0.4949, prev_frame_loss_waypoint_0: 0.3904, prev_frame_loss_rl_bc_0: 0.0838, loss: 2.0896, grad_norm: 67.3521, il_score_sum: 50.1285, rl_score_sum: 49.8222, score_diff: 0.3062, il_win: 21.0500, rl_win: 8.0000
2025-09-24 01:42:21,851 - mmdet - INFO - Epoch [2][2180/3517]	lr: 4.979e-05, eta: 17:29:11, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.3019, debug_std_frame_0: 0.5816, debug_std_frame_1: 0.6083, debug_std_frame_2: 0.6525, debug_std_frame_3: 0.6761, debug_std_frame_4: 0.7120, debug_std_frame_5: 0.7313, loss_rl: -0.1600, loss_critic: 1.3952, loss_rl_bc: 0.0476, il_score: 0.5438, rl_score: 0.5215, prev_frame_loss_waypoint_0: 0.3185, prev_frame_loss_rl_bc_0: 0.0485, loss: 1.9608, grad_norm: 42.1729, il_score_sum: 50.1285, rl_score_sum: 49.8222, score_diff: 0.3062, il_win: 21.0500, rl_win: 8.0000
2025-09-24 01:42:37,948 - mmdet - INFO - Epoch [2][2200/3517]	lr: 4.979e-05, eta: 17:28:57, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2869, debug_std_frame_0: 0.4786, debug_std_frame_1: 0.5004, debug_std_frame_2: 0.5447, debug_std_frame_3: 0.5761, debug_std_frame_4: 0.6174, debug_std_frame_5: 0.6467, loss_rl: -0.1323, loss_critic: 1.2310, loss_rl_bc: 0.0415, il_score: 0.5426, rl_score: 0.5216, prev_frame_loss_waypoint_0: 0.3137, prev_frame_loss_rl_bc_0: 0.0450, loss: 1.7946, grad_norm: 60.9201, il_score_sum: 50.4577, rl_score_sum: 50.1757, score_diff: 0.2820, il_win: 21.3000, rl_win: 8.2000
2025-09-24 01:42:54,048 - mmdet - INFO - Epoch [2][2220/3517]	lr: 4.979e-05, eta: 17:28:42, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2979, debug_std_frame_0: 0.5062, debug_std_frame_1: 0.5318, debug_std_frame_2: 0.5765, debug_std_frame_3: 0.6088, debug_std_frame_4: 0.6498, debug_std_frame_5: 0.6762, loss_rl: -0.1450, loss_critic: 1.1578, loss_rl_bc: 0.0460, il_score: 0.5271, rl_score: 0.5071, prev_frame_loss_waypoint_0: 0.3220, prev_frame_loss_rl_bc_0: 0.0501, loss: 1.7377, grad_norm: 55.5995, il_score_sum: 50.4577, rl_score_sum: 50.1757, score_diff: 0.2820, il_win: 21.3000, rl_win: 8.2000
2025-09-24 01:43:09,889 - mmdet - INFO - Epoch [2][2240/3517]	lr: 4.979e-05, eta: 17:28:24, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2795, debug_std_frame_0: 0.4938, debug_std_frame_1: 0.5159, debug_std_frame_2: 0.5608, debug_std_frame_3: 0.5933, debug_std_frame_4: 0.6388, debug_std_frame_5: 0.6676, loss_rl: -0.1423, loss_critic: 1.3942, loss_rl_bc: 0.0421, il_score: 0.5261, rl_score: 0.5328, prev_frame_loss_waypoint_0: 0.2906, prev_frame_loss_rl_bc_0: 0.0405, loss: 1.9136, grad_norm: 42.0139, il_score_sum: 50.4577, rl_score_sum: 50.1757, score_diff: 0.2820, il_win: 21.3000, rl_win: 8.2000
2025-09-24 01:43:25,668 - mmdet - INFO - Epoch [2][2260/3517]	lr: 4.979e-05, eta: 17:28:05, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2777, debug_std_frame_0: 0.3934, debug_std_frame_1: 0.4113, debug_std_frame_2: 0.4518, debug_std_frame_3: 0.4903, debug_std_frame_4: 0.5480, debug_std_frame_5: 0.5837, loss_rl: -0.2053, loss_critic: 1.5061, loss_rl_bc: 0.0331, il_score: 0.5258, rl_score: 0.5700, prev_frame_loss_waypoint_0: 0.2724, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.9291, grad_norm: 52.8915, il_score_sum: 50.4577, rl_score_sum: 50.1757, score_diff: 0.2820, il_win: 21.3000, rl_win: 8.2000
2025-09-24 01:43:41,634 - mmdet - INFO - Epoch [2][2280/3517]	lr: 4.979e-05, eta: 17:27:49, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2956, debug_std_frame_0: 0.4647, debug_std_frame_1: 0.4882, debug_std_frame_2: 0.5315, debug_std_frame_3: 0.5635, debug_std_frame_4: 0.6169, debug_std_frame_5: 0.6486, loss_rl: -0.0969, loss_critic: 1.0872, loss_rl_bc: 0.0460, il_score: 0.5438, rl_score: 0.4887, prev_frame_loss_waypoint_0: 0.3461, prev_frame_loss_rl_bc_0: 0.0549, loss: 1.7418, grad_norm: 88.9058, il_score_sum: 50.4577, rl_score_sum: 50.1757, score_diff: 0.2820, il_win: 21.3000, rl_win: 8.2000
2025-09-24 01:43:57,773 - mmdet - INFO - Epoch [2][2300/3517]	lr: 4.979e-05, eta: 17:27:35, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2839, debug_std_frame_0: 0.5122, debug_std_frame_1: 0.5393, debug_std_frame_2: 0.5834, debug_std_frame_3: 0.6154, debug_std_frame_4: 0.6653, debug_std_frame_5: 0.6953, loss_rl: -0.1985, loss_critic: 1.2373, loss_rl_bc: 0.0347, il_score: 0.5759, rl_score: 0.5717, prev_frame_loss_waypoint_0: 0.2942, prev_frame_loss_rl_bc_0: 0.0404, loss: 1.7004, grad_norm: 68.7889, il_score_sum: 50.6278, rl_score_sum: 50.4293, score_diff: 0.1985, il_win: 21.5000, rl_win: 8.4000
2025-09-24 01:44:13,695 - mmdet - INFO - Epoch [2][2320/3517]	lr: 4.979e-05, eta: 17:27:18, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2824, debug_std_frame_0: 0.4392, debug_std_frame_1: 0.4620, debug_std_frame_2: 0.5067, debug_std_frame_3: 0.5397, debug_std_frame_4: 0.5902, debug_std_frame_5: 0.6269, loss_rl: -0.1973, loss_critic: 1.3675, loss_rl_bc: 0.0308, il_score: 0.5292, rl_score: 0.5623, prev_frame_loss_waypoint_0: 0.3032, prev_frame_loss_rl_bc_0: 0.0414, loss: 1.8366, grad_norm: 70.6827, il_score_sum: 50.6278, rl_score_sum: 50.4293, score_diff: 0.1985, il_win: 21.5000, rl_win: 8.4000
2025-09-24 01:44:29,625 - mmdet - INFO - Epoch [2][2340/3517]	lr: 4.979e-05, eta: 17:27:01, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2845, debug_std_frame_0: 0.4424, debug_std_frame_1: 0.4696, debug_std_frame_2: 0.5157, debug_std_frame_3: 0.5529, debug_std_frame_4: 0.6074, debug_std_frame_5: 0.6427, loss_rl: -0.1395, loss_critic: 1.0816, loss_rl_bc: 0.0419, il_score: 0.5752, rl_score: 0.5173, prev_frame_loss_waypoint_0: 0.2747, prev_frame_loss_rl_bc_0: 0.0420, loss: 1.5936, grad_norm: 69.3988, il_score_sum: 50.6278, rl_score_sum: 50.4293, score_diff: 0.1985, il_win: 21.5000, rl_win: 8.4000
2025-09-24 01:44:45,958 - mmdet - INFO - Epoch [2][2360/3517]	lr: 4.979e-05, eta: 17:26:50, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2567, debug_std_frame_0: 0.4443, debug_std_frame_1: 0.4747, debug_std_frame_2: 0.5063, debug_std_frame_3: 0.5378, debug_std_frame_4: 0.5830, debug_std_frame_5: 0.6133, loss_rl: -0.2336, loss_critic: 1.4484, loss_rl_bc: 0.0311, il_score: 0.5459, rl_score: 0.5665, prev_frame_loss_waypoint_0: 0.2845, prev_frame_loss_rl_bc_0: 0.0330, loss: 1.8285, grad_norm: 57.8810, il_score_sum: 50.6278, rl_score_sum: 50.4293, score_diff: 0.1985, il_win: 21.5000, rl_win: 8.4000
2025-09-24 01:45:02,010 - mmdet - INFO - Epoch [2][2380/3517]	lr: 4.979e-05, eta: 17:26:34, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2896, debug_std_frame_0: 0.3936, debug_std_frame_1: 0.4190, debug_std_frame_2: 0.4565, debug_std_frame_3: 0.4935, debug_std_frame_4: 0.5413, debug_std_frame_5: 0.5771, loss_rl: -0.1910, loss_critic: 1.0374, loss_rl_bc: 0.0274, il_score: 0.5282, rl_score: 0.5707, prev_frame_loss_waypoint_0: 0.3222, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.5251, grad_norm: 75.9563, il_score_sum: 50.6278, rl_score_sum: 50.4293, score_diff: 0.1985, il_win: 21.5000, rl_win: 8.4000
2025-09-24 01:45:17,993 - mmdet - INFO - Epoch [2][2400/3517]	lr: 4.979e-05, eta: 17:26:18, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2742, debug_std_frame_0: 0.4072, debug_std_frame_1: 0.4333, debug_std_frame_2: 0.4699, debug_std_frame_3: 0.5051, debug_std_frame_4: 0.5557, debug_std_frame_5: 0.5929, loss_rl: -0.1817, loss_critic: 1.5182, loss_rl_bc: 0.0372, il_score: 0.5612, rl_score: 0.5542, prev_frame_loss_waypoint_0: 0.2744, prev_frame_loss_rl_bc_0: 0.0398, loss: 1.9704, grad_norm: 58.9960, il_score_sum: 50.9261, rl_score_sum: 50.7870, score_diff: 0.1391, il_win: 21.7000, rl_win: 8.6000
2025-09-24 01:45:33,968 - mmdet - INFO - Epoch [2][2420/3517]	lr: 4.979e-05, eta: 17:26:02, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2979, debug_std_frame_0: 0.4983, debug_std_frame_1: 0.5225, debug_std_frame_2: 0.5439, debug_std_frame_3: 0.5697, debug_std_frame_4: 0.6020, debug_std_frame_5: 0.6255, loss_rl: -0.1601, loss_critic: 1.5798, loss_rl_bc: 0.0521, il_score: 0.5339, rl_score: 0.5121, prev_frame_loss_waypoint_0: 0.3200, prev_frame_loss_rl_bc_0: 0.0482, loss: 2.1464, grad_norm: 79.3089, il_score_sum: 50.9261, rl_score_sum: 50.7870, score_diff: 0.1391, il_win: 21.7000, rl_win: 8.6000
2025-09-24 01:45:49,915 - mmdet - INFO - Epoch [2][2440/3517]	lr: 4.979e-05, eta: 17:25:45, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.3039, debug_std_frame_0: 0.5470, debug_std_frame_1: 0.5671, debug_std_frame_2: 0.5853, debug_std_frame_3: 0.6106, debug_std_frame_4: 0.6461, debug_std_frame_5: 0.6689, loss_rl: -0.2269, loss_critic: 1.5921, loss_rl_bc: 0.0332, il_score: 0.5338, rl_score: 0.5814, prev_frame_loss_waypoint_0: 0.3305, prev_frame_loss_rl_bc_0: 0.0404, loss: 2.0821, grad_norm: 86.0388, il_score_sum: 50.9261, rl_score_sum: 50.7870, score_diff: 0.1391, il_win: 21.7000, rl_win: 8.6000
2025-09-24 01:46:06,024 - mmdet - INFO - Epoch [2][2460/3517]	lr: 4.979e-05, eta: 17:25:31, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2987, debug_std_frame_0: 0.4938, debug_std_frame_1: 0.5168, debug_std_frame_2: 0.5419, debug_std_frame_3: 0.5696, debug_std_frame_4: 0.6082, debug_std_frame_5: 0.6341, loss_rl: -0.1631, loss_critic: 1.5151, loss_rl_bc: 0.0438, il_score: 0.5458, rl_score: 0.5355, prev_frame_loss_waypoint_0: 0.2819, prev_frame_loss_rl_bc_0: 0.0369, loss: 2.0219, grad_norm: 58.5859, il_score_sum: 50.9261, rl_score_sum: 50.7870, score_diff: 0.1391, il_win: 21.7000, rl_win: 8.6000
2025-09-24 01:46:22,433 - mmdet - INFO - Epoch [2][2480/3517]	lr: 4.979e-05, eta: 17:25:20, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.3048, debug_std_frame_0: 0.4351, debug_std_frame_1: 0.4592, debug_std_frame_2: 0.4960, debug_std_frame_3: 0.5286, debug_std_frame_4: 0.5727, debug_std_frame_5: 0.6016, loss_rl: -0.1568, loss_critic: 1.4465, loss_rl_bc: 0.0391, il_score: 0.5410, rl_score: 0.5680, prev_frame_loss_waypoint_0: 0.3291, prev_frame_loss_rl_bc_0: 0.0423, loss: 2.0135, grad_norm: 70.8981, il_score_sum: 50.9261, rl_score_sum: 50.7870, score_diff: 0.1391, il_win: 21.7000, rl_win: 8.6000
2025-09-24 01:46:38,893 - mmdet - INFO - Epoch [2][2500/3517]	lr: 4.979e-05, eta: 17:25:10, time: 0.823, data_time: 0.014, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2968, debug_std_frame_0: 0.4664, debug_std_frame_1: 0.4918, debug_std_frame_2: 0.5284, debug_std_frame_3: 0.5611, debug_std_frame_4: 0.6037, debug_std_frame_5: 0.6335, loss_rl: -0.1607, loss_critic: 1.3855, loss_rl_bc: 0.0423, il_score: 0.5333, rl_score: 0.5456, prev_frame_loss_waypoint_0: 0.3210, prev_frame_loss_rl_bc_0: 0.0481, loss: 1.9416, grad_norm: 63.3238, il_score_sum: 51.2938, rl_score_sum: 51.1771, score_diff: 0.1167, il_win: 21.9000, rl_win: 8.8000
2025-09-24 01:46:55,284 - mmdet - INFO - Epoch [2][2520/3517]	lr: 4.979e-05, eta: 17:24:59, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.3021, debug_std_frame_0: 0.4497, debug_std_frame_1: 0.4715, debug_std_frame_2: 0.5055, debug_std_frame_3: 0.5382, debug_std_frame_4: 0.5822, debug_std_frame_5: 0.6132, loss_rl: -0.1704, loss_critic: 1.1709, loss_rl_bc: 0.0353, il_score: 0.5432, rl_score: 0.5852, prev_frame_loss_waypoint_0: 0.3411, prev_frame_loss_rl_bc_0: 0.0385, loss: 1.7258, grad_norm: 75.2869, il_score_sum: 51.2938, rl_score_sum: 51.1771, score_diff: 0.1167, il_win: 21.9000, rl_win: 8.8000
2025-09-24 01:47:11,682 - mmdet - INFO - Epoch [2][2540/3517]	lr: 4.979e-05, eta: 17:24:48, time: 0.820, data_time: 0.015, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2767, debug_std_frame_0: 0.4900, debug_std_frame_1: 0.5103, debug_std_frame_2: 0.5371, debug_std_frame_3: 0.5644, debug_std_frame_4: 0.6035, debug_std_frame_5: 0.6322, loss_rl: -0.2134, loss_critic: 1.2979, loss_rl_bc: 0.0369, il_score: 0.5372, rl_score: 0.5402, prev_frame_loss_waypoint_0: 0.3016, prev_frame_loss_rl_bc_0: 0.0418, loss: 1.7499, grad_norm: 62.1541, il_score_sum: 51.2938, rl_score_sum: 51.1771, score_diff: 0.1167, il_win: 21.9000, rl_win: 8.8000
2025-09-24 01:47:27,995 - mmdet - INFO - Epoch [2][2560/3517]	lr: 4.979e-05, eta: 17:24:36, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2631, debug_std_frame_0: 0.4974, debug_std_frame_1: 0.5180, debug_std_frame_2: 0.5423, debug_std_frame_3: 0.5666, debug_std_frame_4: 0.6058, debug_std_frame_5: 0.6331, loss_rl: -0.2235, loss_critic: 1.4288, loss_rl_bc: 0.0325, il_score: 0.5769, rl_score: 0.5970, prev_frame_loss_waypoint_0: 0.2994, prev_frame_loss_rl_bc_0: 0.0375, loss: 1.8459, grad_norm: 64.6352, il_score_sum: 51.2938, rl_score_sum: 51.1771, score_diff: 0.1167, il_win: 21.9000, rl_win: 8.8000
2025-09-24 01:47:44,029 - mmdet - INFO - Epoch [2][2580/3517]	lr: 4.979e-05, eta: 17:24:21, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.3127, debug_std_frame_0: 0.4445, debug_std_frame_1: 0.4648, debug_std_frame_2: 0.4997, debug_std_frame_3: 0.5320, debug_std_frame_4: 0.5794, debug_std_frame_5: 0.6114, loss_rl: -0.1892, loss_critic: 1.2535, loss_rl_bc: 0.0348, il_score: 0.5599, rl_score: 0.5802, prev_frame_loss_waypoint_0: 0.3493, prev_frame_loss_rl_bc_0: 0.0417, loss: 1.8105, grad_norm: 67.0409, il_score_sum: 51.2938, rl_score_sum: 51.1771, score_diff: 0.1167, il_win: 21.9000, rl_win: 8.8000
2025-09-24 01:48:00,430 - mmdet - INFO - Epoch [2][2600/3517]	lr: 4.979e-05, eta: 17:24:10, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.3663, debug_std_frame_0: 0.4365, debug_std_frame_1: 0.4571, debug_std_frame_2: 0.4905, debug_std_frame_3: 0.5229, debug_std_frame_4: 0.5753, debug_std_frame_5: 0.6107, loss_rl: -0.1384, loss_critic: 1.1348, loss_rl_bc: 0.0448, il_score: 0.5025, rl_score: 0.5174, prev_frame_loss_waypoint_0: 0.4102, prev_frame_loss_rl_bc_0: 0.0491, loss: 1.8760, grad_norm: 77.1585, il_score_sum: 51.5028, rl_score_sum: 51.5464, score_diff: -0.0437, il_win: 22.1000, rl_win: 9.0500
2025-09-24 01:48:16,562 - mmdet - INFO - Epoch [2][2620/3517]	lr: 4.979e-05, eta: 17:23:55, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.3376, debug_std_frame_0: 0.5103, debug_std_frame_1: 0.5395, debug_std_frame_2: 0.5761, debug_std_frame_3: 0.6106, debug_std_frame_4: 0.6689, debug_std_frame_5: 0.6988, loss_rl: -0.1183, loss_critic: 1.3091, loss_rl_bc: 0.0575, il_score: 0.4878, rl_score: 0.4515, prev_frame_loss_waypoint_0: 0.3476, prev_frame_loss_rl_bc_0: 0.0560, loss: 1.9979, grad_norm: 60.0905, il_score_sum: 51.5028, rl_score_sum: 51.5464, score_diff: -0.0437, il_win: 22.1000, rl_win: 9.0500
2025-09-24 01:48:32,626 - mmdet - INFO - Epoch [2][2640/3517]	lr: 4.979e-05, eta: 17:23:40, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.3077, debug_std_frame_0: 0.5359, debug_std_frame_1: 0.5637, debug_std_frame_2: 0.5978, debug_std_frame_3: 0.6319, debug_std_frame_4: 0.6930, debug_std_frame_5: 0.7210, loss_rl: -0.1795, loss_critic: 1.4116, loss_rl_bc: 0.0467, il_score: 0.5262, rl_score: 0.5239, prev_frame_loss_waypoint_0: 0.3170, prev_frame_loss_rl_bc_0: 0.0440, loss: 1.9565, grad_norm: 59.6764, il_score_sum: 51.5028, rl_score_sum: 51.5464, score_diff: -0.0437, il_win: 22.1000, rl_win: 9.0500
2025-09-24 01:48:48,722 - mmdet - INFO - Epoch [2][2660/3517]	lr: 4.979e-05, eta: 17:23:25, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.3998, debug_std_frame_0: 0.4902, debug_std_frame_1: 0.5201, debug_std_frame_2: 0.5655, debug_std_frame_3: 0.6063, debug_std_frame_4: 0.6663, debug_std_frame_5: 0.6939, loss_rl: -0.1402, loss_critic: 1.1043, loss_rl_bc: 0.0395, il_score: 0.5268, rl_score: 0.5706, prev_frame_loss_waypoint_0: 0.3653, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.8125, grad_norm: 71.3340, il_score_sum: 51.5028, rl_score_sum: 51.5464, score_diff: -0.0437, il_win: 22.1000, rl_win: 9.0500
2025-09-24 01:49:04,756 - mmdet - INFO - Epoch [2][2680/3517]	lr: 4.979e-05, eta: 17:23:09, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.3973, debug_std_frame_0: 0.4353, debug_std_frame_1: 0.4682, debug_std_frame_2: 0.5157, debug_std_frame_3: 0.5619, debug_std_frame_4: 0.6207, debug_std_frame_5: 0.6513, loss_rl: -0.1228, loss_critic: 1.3941, loss_rl_bc: 0.0419, il_score: 0.4339, rl_score: 0.5367, prev_frame_loss_waypoint_0: 0.4030, prev_frame_loss_rl_bc_0: 0.0414, loss: 2.1630, grad_norm: 72.8329, il_score_sum: 51.5028, rl_score_sum: 51.5464, score_diff: -0.0437, il_win: 22.1000, rl_win: 9.0500
2025-09-24 01:49:20,976 - mmdet - INFO - Epoch [2][2700/3517]	lr: 4.979e-05, eta: 17:22:56, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0093, loss_waypoint: 0.2771, debug_std_frame_0: 0.4226, debug_std_frame_1: 0.4487, debug_std_frame_2: 0.4901, debug_std_frame_3: 0.5355, debug_std_frame_4: 0.5906, debug_std_frame_5: 0.6193, loss_rl: -0.1593, loss_critic: 1.2793, loss_rl_bc: 0.0348, il_score: 0.5531, rl_score: 0.5520, prev_frame_loss_waypoint_0: 0.3028, prev_frame_loss_rl_bc_0: 0.0411, loss: 1.7851, grad_norm: 50.3573, il_score_sum: 51.7253, rl_score_sum: 51.8804, score_diff: -0.1552, il_win: 22.3000, rl_win: 9.3500
2025-09-24 01:49:37,002 - mmdet - INFO - Epoch [2][2720/3517]	lr: 4.979e-05, eta: 17:22:40, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.3096, debug_std_frame_0: 0.4932, debug_std_frame_1: 0.5126, debug_std_frame_2: 0.5400, debug_std_frame_3: 0.5761, debug_std_frame_4: 0.6249, debug_std_frame_5: 0.6590, loss_rl: -0.1969, loss_critic: 1.4468, loss_rl_bc: 0.0444, il_score: 0.5194, rl_score: 0.5226, prev_frame_loss_waypoint_0: 0.3382, prev_frame_loss_rl_bc_0: 0.0514, loss: 2.0018, grad_norm: 54.6632, il_score_sum: 51.7253, rl_score_sum: 51.8804, score_diff: -0.1552, il_win: 22.3000, rl_win: 9.3500
2025-09-24 01:49:52,984 - mmdet - INFO - Epoch [2][2740/3517]	lr: 4.979e-05, eta: 17:22:24, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2665, debug_std_frame_0: 0.5690, debug_std_frame_1: 0.5961, debug_std_frame_2: 0.6335, debug_std_frame_3: 0.6755, debug_std_frame_4: 0.7301, debug_std_frame_5: 0.7570, loss_rl: -0.1027, loss_critic: 1.0845, loss_rl_bc: 0.0557, il_score: 0.5557, rl_score: 0.4311, prev_frame_loss_waypoint_0: 0.3489, prev_frame_loss_rl_bc_0: 0.0672, loss: 1.7290, grad_norm: 61.2802, il_score_sum: 51.7253, rl_score_sum: 51.8804, score_diff: -0.1552, il_win: 22.3000, rl_win: 9.3500
2025-09-24 01:50:09,076 - mmdet - INFO - Epoch [2][2760/3517]	lr: 4.979e-05, eta: 17:22:09, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2891, debug_std_frame_0: 0.5889, debug_std_frame_1: 0.6130, debug_std_frame_2: 0.6434, debug_std_frame_3: 0.6868, debug_std_frame_4: 0.7506, debug_std_frame_5: 0.7766, loss_rl: -0.2148, loss_critic: 1.3644, loss_rl_bc: 0.0392, il_score: 0.5768, rl_score: 0.5837, prev_frame_loss_waypoint_0: 0.2916, prev_frame_loss_rl_bc_0: 0.0405, loss: 1.8190, grad_norm: 69.9630, il_score_sum: 51.7253, rl_score_sum: 51.8804, score_diff: -0.1552, il_win: 22.3000, rl_win: 9.3500
2025-09-24 01:50:25,104 - mmdet - INFO - Epoch [2][2780/3517]	lr: 4.979e-05, eta: 17:21:53, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2889, debug_std_frame_0: 0.5272, debug_std_frame_1: 0.5461, debug_std_frame_2: 0.5774, debug_std_frame_3: 0.6179, debug_std_frame_4: 0.6746, debug_std_frame_5: 0.7057, loss_rl: -0.1770, loss_critic: 1.3541, loss_rl_bc: 0.0383, il_score: 0.5388, rl_score: 0.5521, prev_frame_loss_waypoint_0: 0.3049, prev_frame_loss_rl_bc_0: 0.0415, loss: 1.8591, grad_norm: 49.5500, il_score_sum: 51.7253, rl_score_sum: 51.8804, score_diff: -0.1552, il_win: 22.3000, rl_win: 9.3500
2025-09-24 01:50:41,430 - mmdet - INFO - Epoch [2][2800/3517]	lr: 4.979e-05, eta: 17:21:41, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.3018, debug_std_frame_0: 0.4222, debug_std_frame_1: 0.4440, debug_std_frame_2: 0.4806, debug_std_frame_3: 0.5315, debug_std_frame_4: 0.5857, debug_std_frame_5: 0.6233, loss_rl: -0.1907, loss_critic: 1.3443, loss_rl_bc: 0.0323, il_score: 0.5665, rl_score: 0.5884, prev_frame_loss_waypoint_0: 0.3093, prev_frame_loss_rl_bc_0: 0.0355, loss: 1.8405, grad_norm: 65.6336, il_score_sum: 52.1019, rl_score_sum: 52.1507, score_diff: -0.0488, il_win: 22.5500, rl_win: 9.6500
2025-09-24 01:50:57,520 - mmdet - INFO - Epoch [2][2820/3517]	lr: 4.979e-05, eta: 17:21:26, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2563, debug_std_frame_0: 0.4330, debug_std_frame_1: 0.4535, debug_std_frame_2: 0.4879, debug_std_frame_3: 0.5298, debug_std_frame_4: 0.5803, debug_std_frame_5: 0.6182, loss_rl: -0.1719, loss_critic: 1.4775, loss_rl_bc: 0.0404, il_score: 0.5633, rl_score: 0.5359, prev_frame_loss_waypoint_0: 0.2964, prev_frame_loss_rl_bc_0: 0.0400, loss: 1.9472, grad_norm: 66.5238, il_score_sum: 52.1019, rl_score_sum: 52.1507, score_diff: -0.0488, il_win: 22.5500, rl_win: 9.6500
2025-09-24 01:51:13,732 - mmdet - INFO - Epoch [2][2840/3517]	lr: 4.979e-05, eta: 17:21:13, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2654, debug_std_frame_0: 0.5283, debug_std_frame_1: 0.5436, debug_std_frame_2: 0.5695, debug_std_frame_3: 0.6028, debug_std_frame_4: 0.6444, debug_std_frame_5: 0.6789, loss_rl: -0.1543, loss_critic: 1.3356, loss_rl_bc: 0.0436, il_score: 0.5834, rl_score: 0.5165, prev_frame_loss_waypoint_0: 0.2897, prev_frame_loss_rl_bc_0: 0.0472, loss: 1.8355, grad_norm: 63.6450, il_score_sum: 52.1019, rl_score_sum: 52.1507, score_diff: -0.0488, il_win: 22.5500, rl_win: 9.6500
2025-09-24 01:51:29,708 - mmdet - INFO - Epoch [2][2860/3517]	lr: 4.979e-05, eta: 17:20:56, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2658, debug_std_frame_0: 0.5047, debug_std_frame_1: 0.5213, debug_std_frame_2: 0.5454, debug_std_frame_3: 0.5800, debug_std_frame_4: 0.6237, debug_std_frame_5: 0.6541, loss_rl: -0.1620, loss_critic: 1.6397, loss_rl_bc: 0.0407, il_score: 0.5526, rl_score: 0.5572, prev_frame_loss_waypoint_0: 0.2902, prev_frame_loss_rl_bc_0: 0.0371, loss: 2.1195, grad_norm: 60.3840, il_score_sum: 52.1019, rl_score_sum: 52.1507, score_diff: -0.0488, il_win: 22.5500, rl_win: 9.6500
2025-09-24 01:51:45,883 - mmdet - INFO - Epoch [2][2880/3517]	lr: 4.979e-05, eta: 17:20:42, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2839, debug_std_frame_0: 0.4444, debug_std_frame_1: 0.4679, debug_std_frame_2: 0.5046, debug_std_frame_3: 0.5509, debug_std_frame_4: 0.6046, debug_std_frame_5: 0.6412, loss_rl: -0.1439, loss_critic: 1.2840, loss_rl_bc: 0.0346, il_score: 0.5188, rl_score: 0.5428, prev_frame_loss_waypoint_0: 0.3218, prev_frame_loss_rl_bc_0: 0.0430, loss: 1.8312, grad_norm: 71.2493, il_score_sum: 52.1019, rl_score_sum: 52.1507, score_diff: -0.0488, il_win: 22.5500, rl_win: 9.6500
2025-09-24 01:52:01,950 - mmdet - INFO - Epoch [2][2900/3517]	lr: 4.979e-05, eta: 17:20:27, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2587, debug_std_frame_0: 0.4432, debug_std_frame_1: 0.4656, debug_std_frame_2: 0.5069, debug_std_frame_3: 0.5519, debug_std_frame_4: 0.6049, debug_std_frame_5: 0.6389, loss_rl: -0.1746, loss_critic: 1.1857, loss_rl_bc: 0.0405, il_score: 0.5727, rl_score: 0.5468, prev_frame_loss_waypoint_0: 0.2914, prev_frame_loss_rl_bc_0: 0.0527, loss: 1.6625, grad_norm: 51.7736, il_score_sum: 52.4665, rl_score_sum: 52.4972, score_diff: -0.0306, il_win: 22.8000, rl_win: 9.9500
2025-09-24 01:52:17,871 - mmdet - INFO - Epoch [2][2920/3517]	lr: 4.979e-05, eta: 17:20:10, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2682, debug_std_frame_0: 0.4641, debug_std_frame_1: 0.4851, debug_std_frame_2: 0.5208, debug_std_frame_3: 0.5592, debug_std_frame_4: 0.6096, debug_std_frame_5: 0.6375, loss_rl: -0.1799, loss_critic: 1.5326, loss_rl_bc: 0.0355, il_score: 0.5310, rl_score: 0.5439, prev_frame_loss_waypoint_0: 0.3110, prev_frame_loss_rl_bc_0: 0.0368, loss: 2.0127, grad_norm: 75.2001, il_score_sum: 52.4665, rl_score_sum: 52.4972, score_diff: -0.0306, il_win: 22.8000, rl_win: 9.9500
2025-09-24 01:52:33,983 - mmdet - INFO - Epoch [2][2940/3517]	lr: 4.979e-05, eta: 17:19:55, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.3032, debug_std_frame_0: 0.4625, debug_std_frame_1: 0.4882, debug_std_frame_2: 0.5307, debug_std_frame_3: 0.5701, debug_std_frame_4: 0.6232, debug_std_frame_5: 0.6559, loss_rl: -0.1430, loss_critic: 1.2493, loss_rl_bc: 0.0360, il_score: 0.5508, rl_score: 0.5865, prev_frame_loss_waypoint_0: 0.3486, prev_frame_loss_rl_bc_0: 0.0381, loss: 1.8399, grad_norm: 76.4379, il_score_sum: 52.4665, rl_score_sum: 52.4972, score_diff: -0.0306, il_win: 22.8000, rl_win: 9.9500
2025-09-24 01:52:50,035 - mmdet - INFO - Epoch [2][2960/3517]	lr: 4.979e-05, eta: 17:19:40, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2778, debug_std_frame_0: 0.4517, debug_std_frame_1: 0.4778, debug_std_frame_2: 0.5223, debug_std_frame_3: 0.5605, debug_std_frame_4: 0.6158, debug_std_frame_5: 0.6506, loss_rl: -0.1605, loss_critic: 1.5243, loss_rl_bc: 0.0344, il_score: 0.5173, rl_score: 0.5492, prev_frame_loss_waypoint_0: 0.3031, prev_frame_loss_rl_bc_0: 0.0430, loss: 2.0300, grad_norm: 73.1049, il_score_sum: 52.4665, rl_score_sum: 52.4972, score_diff: -0.0306, il_win: 22.8000, rl_win: 9.9500
2025-09-24 01:53:05,984 - mmdet - INFO - Epoch [2][2980/3517]	lr: 4.979e-05, eta: 17:19:23, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2663, debug_std_frame_0: 0.3972, debug_std_frame_1: 0.4206, debug_std_frame_2: 0.4604, debug_std_frame_3: 0.4956, debug_std_frame_4: 0.5505, debug_std_frame_5: 0.5829, loss_rl: -0.1228, loss_critic: 1.5443, loss_rl_bc: 0.0415, il_score: 0.5610, rl_score: 0.5314, prev_frame_loss_waypoint_0: 0.2872, prev_frame_loss_rl_bc_0: 0.0522, loss: 2.0768, grad_norm: 65.7934, il_score_sum: 52.4665, rl_score_sum: 52.4972, score_diff: -0.0306, il_win: 22.8000, rl_win: 9.9500
2025-09-24 01:53:22,234 - mmdet - INFO - Epoch [2][3000/3517]	lr: 4.979e-05, eta: 17:19:10, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.3215, debug_std_frame_0: 0.4991, debug_std_frame_1: 0.5201, debug_std_frame_2: 0.5489, debug_std_frame_3: 0.5757, debug_std_frame_4: 0.6154, debug_std_frame_5: 0.6454, loss_rl: -0.1707, loss_critic: 1.4417, loss_rl_bc: 0.0487, il_score: 0.5152, rl_score: 0.5147, prev_frame_loss_waypoint_0: 0.3651, prev_frame_loss_rl_bc_0: 0.0514, loss: 2.0668, grad_norm: 101.2099, il_score_sum: 52.7213, rl_score_sum: 52.7243, score_diff: -0.0030, il_win: 23.0500, rl_win: 10.2500
2025-09-24 01:53:38,212 - mmdet - INFO - Epoch [2][3020/3517]	lr: 4.979e-05, eta: 17:18:54, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.3228, debug_std_frame_0: 0.5135, debug_std_frame_1: 0.5313, debug_std_frame_2: 0.5532, debug_std_frame_3: 0.5802, debug_std_frame_4: 0.6200, debug_std_frame_5: 0.6472, loss_rl: -0.2157, loss_critic: 1.3522, loss_rl_bc: 0.0358, il_score: 0.5192, rl_score: 0.5581, prev_frame_loss_waypoint_0: 0.3277, prev_frame_loss_rl_bc_0: 0.0367, loss: 1.8676, grad_norm: 67.8994, il_score_sum: 52.7213, rl_score_sum: 52.7243, score_diff: -0.0030, il_win: 23.0500, rl_win: 10.2500
2025-09-24 01:53:54,419 - mmdet - INFO - Epoch [2][3040/3517]	lr: 4.979e-05, eta: 17:18:40, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.3179, debug_std_frame_0: 0.5186, debug_std_frame_1: 0.5371, debug_std_frame_2: 0.5654, debug_std_frame_3: 0.5948, debug_std_frame_4: 0.6398, debug_std_frame_5: 0.6701, loss_rl: -0.1838, loss_critic: 1.4421, loss_rl_bc: 0.0405, il_score: 0.5435, rl_score: 0.5655, prev_frame_loss_waypoint_0: 0.3259, prev_frame_loss_rl_bc_0: 0.0443, loss: 1.9952, grad_norm: 67.6388, il_score_sum: 52.7213, rl_score_sum: 52.7243, score_diff: -0.0030, il_win: 23.0500, rl_win: 10.2500
2025-09-24 01:54:10,597 - mmdet - INFO - Epoch [2][3060/3517]	lr: 4.979e-05, eta: 17:18:26, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.3045, debug_std_frame_0: 0.4120, debug_std_frame_1: 0.4331, debug_std_frame_2: 0.4715, debug_std_frame_3: 0.5099, debug_std_frame_4: 0.5668, debug_std_frame_5: 0.6050, loss_rl: -0.1457, loss_critic: 1.2195, loss_rl_bc: 0.0350, il_score: 0.5651, rl_score: 0.5546, prev_frame_loss_waypoint_0: 0.3347, prev_frame_loss_rl_bc_0: 0.0371, loss: 1.7932, grad_norm: 78.0574, il_score_sum: 52.7213, rl_score_sum: 52.7243, score_diff: -0.0030, il_win: 23.0500, rl_win: 10.2500
2025-09-24 01:54:26,596 - mmdet - INFO - Epoch [2][3080/3517]	lr: 4.979e-05, eta: 17:18:10, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2583, debug_std_frame_0: 0.4312, debug_std_frame_1: 0.4519, debug_std_frame_2: 0.4900, debug_std_frame_3: 0.5236, debug_std_frame_4: 0.5757, debug_std_frame_5: 0.6083, loss_rl: -0.1595, loss_critic: 1.6021, loss_rl_bc: 0.0356, il_score: 0.5496, rl_score: 0.5377, prev_frame_loss_waypoint_0: 0.2918, prev_frame_loss_rl_bc_0: 0.0411, loss: 2.0771, grad_norm: 74.1524, il_score_sum: 52.7213, rl_score_sum: 52.7243, score_diff: -0.0030, il_win: 23.0500, rl_win: 10.2500
2025-09-24 01:54:42,840 - mmdet - INFO - Epoch [2][3100/3517]	lr: 4.979e-05, eta: 17:17:56, time: 0.812, data_time: 0.014, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2800, debug_std_frame_0: 0.3823, debug_std_frame_1: 0.4048, debug_std_frame_2: 0.4429, debug_std_frame_3: 0.4808, debug_std_frame_4: 0.5337, debug_std_frame_5: 0.5698, loss_rl: -0.1646, loss_critic: 1.5409, loss_rl_bc: 0.0356, il_score: 0.5323, rl_score: 0.5596, prev_frame_loss_waypoint_0: 0.2730, prev_frame_loss_rl_bc_0: 0.0309, loss: 2.0043, grad_norm: 65.1698, il_score_sum: 52.8052, rl_score_sum: 52.9384, score_diff: -0.1332, il_win: 23.2500, rl_win: 10.6000
2025-09-24 01:54:59,009 - mmdet - INFO - Epoch [2][3120/3517]	lr: 4.979e-05, eta: 17:17:42, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.3565, debug_std_frame_0: 0.4072, debug_std_frame_1: 0.4328, debug_std_frame_2: 0.4729, debug_std_frame_3: 0.5140, debug_std_frame_4: 0.5671, debug_std_frame_5: 0.6063, loss_rl: -0.1210, loss_critic: 1.1919, loss_rl_bc: 0.0444, il_score: 0.4921, rl_score: 0.5157, prev_frame_loss_waypoint_0: 0.3687, prev_frame_loss_rl_bc_0: 0.0480, loss: 1.8967, grad_norm: 105.8869, il_score_sum: 52.8052, rl_score_sum: 52.9384, score_diff: -0.1332, il_win: 23.2500, rl_win: 10.6000
2025-09-24 01:55:15,306 - mmdet - INFO - Epoch [2][3140/3517]	lr: 4.979e-05, eta: 17:17:30, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.3176, debug_std_frame_0: 0.4392, debug_std_frame_1: 0.4643, debug_std_frame_2: 0.4958, debug_std_frame_3: 0.5334, debug_std_frame_4: 0.5809, debug_std_frame_5: 0.6177, loss_rl: -0.2182, loss_critic: 1.3748, loss_rl_bc: 0.0324, il_score: 0.5238, rl_score: 0.6026, prev_frame_loss_waypoint_0: 0.3512, prev_frame_loss_rl_bc_0: 0.0370, loss: 1.9024, grad_norm: 84.6491, il_score_sum: 52.8052, rl_score_sum: 52.9384, score_diff: -0.1332, il_win: 23.2500, rl_win: 10.6000
2025-09-24 01:55:31,576 - mmdet - INFO - Epoch [2][3160/3517]	lr: 4.979e-05, eta: 17:17:17, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2591, debug_std_frame_0: 0.3985, debug_std_frame_1: 0.4208, debug_std_frame_2: 0.4542, debug_std_frame_3: 0.4899, debug_std_frame_4: 0.5384, debug_std_frame_5: 0.5725, loss_rl: -0.2356, loss_critic: 1.3111, loss_rl_bc: 0.0293, il_score: 0.6061, rl_score: 0.6208, prev_frame_loss_waypoint_0: 0.2641, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.6662, grad_norm: 65.3465, il_score_sum: 52.8052, rl_score_sum: 52.9384, score_diff: -0.1332, il_win: 23.2500, rl_win: 10.6000
2025-09-24 01:55:47,843 - mmdet - INFO - Epoch [2][3180/3517]	lr: 4.979e-05, eta: 17:17:04, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2855, debug_std_frame_0: 0.3556, debug_std_frame_1: 0.3833, debug_std_frame_2: 0.4202, debug_std_frame_3: 0.4611, debug_std_frame_4: 0.5162, debug_std_frame_5: 0.5593, loss_rl: -0.2212, loss_critic: 1.4645, loss_rl_bc: 0.0254, il_score: 0.5646, rl_score: 0.6339, prev_frame_loss_waypoint_0: 0.2910, prev_frame_loss_rl_bc_0: 0.0260, loss: 1.8789, grad_norm: 91.1954, il_score_sum: 52.8052, rl_score_sum: 52.9384, score_diff: -0.1332, il_win: 23.2500, rl_win: 10.6000
2025-09-24 01:56:04,242 - mmdet - INFO - Epoch [2][3200/3517]	lr: 4.979e-05, eta: 17:16:52, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2871, debug_std_frame_0: 0.3731, debug_std_frame_1: 0.3998, debug_std_frame_2: 0.4438, debug_std_frame_3: 0.4944, debug_std_frame_4: 0.5558, debug_std_frame_5: 0.6060, loss_rl: -0.1283, loss_critic: 1.2527, loss_rl_bc: 0.0417, il_score: 0.5937, rl_score: 0.5408, prev_frame_loss_waypoint_0: 0.3193, prev_frame_loss_rl_bc_0: 0.0391, loss: 1.8211, grad_norm: 74.7211, il_score_sum: 52.9393, rl_score_sum: 53.2568, score_diff: -0.3175, il_win: 23.4500, rl_win: 11.0000
2025-09-24 01:56:20,403 - mmdet - INFO - Epoch [2][3220/3517]	lr: 4.979e-05, eta: 17:16:38, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2783, debug_std_frame_0: 0.4214, debug_std_frame_1: 0.4481, debug_std_frame_2: 0.4944, debug_std_frame_3: 0.5444, debug_std_frame_4: 0.6020, debug_std_frame_5: 0.6457, loss_rl: -0.1846, loss_critic: 1.3829, loss_rl_bc: 0.0353, il_score: 0.5747, rl_score: 0.5607, prev_frame_loss_waypoint_0: 0.2792, prev_frame_loss_rl_bc_0: 0.0338, loss: 1.8333, grad_norm: 81.9336, il_score_sum: 52.9393, rl_score_sum: 53.2568, score_diff: -0.3175, il_win: 23.4500, rl_win: 11.0000
2025-09-24 01:56:36,578 - mmdet - INFO - Epoch [2][3240/3517]	lr: 4.979e-05, eta: 17:16:23, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2675, debug_std_frame_0: 0.3607, debug_std_frame_1: 0.3880, debug_std_frame_2: 0.4325, debug_std_frame_3: 0.4902, debug_std_frame_4: 0.5522, debug_std_frame_5: 0.6028, loss_rl: -0.2107, loss_critic: 1.3776, loss_rl_bc: 0.0259, il_score: 0.5071, rl_score: 0.5954, prev_frame_loss_waypoint_0: 0.2773, prev_frame_loss_rl_bc_0: 0.0274, loss: 1.7731, grad_norm: 72.6463, il_score_sum: 52.9393, rl_score_sum: 53.2568, score_diff: -0.3175, il_win: 23.4500, rl_win: 11.0000
2025-09-24 01:56:52,944 - mmdet - INFO - Epoch [2][3260/3517]	lr: 4.979e-05, eta: 17:16:11, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2718, debug_std_frame_0: 0.3070, debug_std_frame_1: 0.3305, debug_std_frame_2: 0.3673, debug_std_frame_3: 0.4186, debug_std_frame_4: 0.4817, debug_std_frame_5: 0.5379, loss_rl: -0.2245, loss_critic: 1.4266, loss_rl_bc: 0.0322, il_score: 0.5657, rl_score: 0.6107, prev_frame_loss_waypoint_0: 0.2752, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.8142, grad_norm: 77.6404, il_score_sum: 52.9393, rl_score_sum: 53.2568, score_diff: -0.3175, il_win: 23.4500, rl_win: 11.0000
2025-09-24 01:57:09,082 - mmdet - INFO - Epoch [2][3280/3517]	lr: 4.979e-05, eta: 17:15:57, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2936, debug_std_frame_0: 0.3708, debug_std_frame_1: 0.3956, debug_std_frame_2: 0.4382, debug_std_frame_3: 0.4898, debug_std_frame_4: 0.5499, debug_std_frame_5: 0.6013, loss_rl: -0.1412, loss_critic: 1.3649, loss_rl_bc: 0.0505, il_score: 0.5200, rl_score: 0.4981, prev_frame_loss_waypoint_0: 0.2973, prev_frame_loss_rl_bc_0: 0.0448, loss: 1.9180, grad_norm: 71.3831, il_score_sum: 52.9393, rl_score_sum: 53.2568, score_diff: -0.3175, il_win: 23.4500, rl_win: 11.0000
2025-09-24 01:57:25,269 - mmdet - INFO - Epoch [2][3300/3517]	lr: 4.979e-05, eta: 17:15:43, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2832, debug_std_frame_0: 0.4295, debug_std_frame_1: 0.4536, debug_std_frame_2: 0.4915, debug_std_frame_3: 0.5376, debug_std_frame_4: 0.5844, debug_std_frame_5: 0.6245, loss_rl: -0.1529, loss_critic: 1.5124, loss_rl_bc: 0.0300, il_score: 0.5308, rl_score: 0.5494, prev_frame_loss_waypoint_0: 0.2910, prev_frame_loss_rl_bc_0: 0.0307, loss: 2.0030, grad_norm: 59.6657, il_score_sum: 53.2147, rl_score_sum: 53.5426, score_diff: -0.3279, il_win: 23.6500, rl_win: 11.4000
2025-09-24 01:57:41,653 - mmdet - INFO - Epoch [2][3320/3517]	lr: 4.979e-05, eta: 17:15:31, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2654, debug_std_frame_0: 0.4674, debug_std_frame_1: 0.4869, debug_std_frame_2: 0.5185, debug_std_frame_3: 0.5500, debug_std_frame_4: 0.5878, debug_std_frame_5: 0.6247, loss_rl: -0.1587, loss_critic: 1.6707, loss_rl_bc: 0.0471, il_score: 0.5645, rl_score: 0.5222, prev_frame_loss_waypoint_0: 0.2930, prev_frame_loss_rl_bc_0: 0.0528, loss: 2.1796, grad_norm: 74.3383, il_score_sum: 53.2147, rl_score_sum: 53.5426, score_diff: -0.3279, il_win: 23.6500, rl_win: 11.4000
2025-09-24 01:57:57,860 - mmdet - INFO - Epoch [2][3340/3517]	lr: 4.979e-05, eta: 17:15:17, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2752, debug_std_frame_0: 0.5080, debug_std_frame_1: 0.5312, debug_std_frame_2: 0.5589, debug_std_frame_3: 0.5972, debug_std_frame_4: 0.6432, debug_std_frame_5: 0.6798, loss_rl: -0.1895, loss_critic: 1.3136, loss_rl_bc: 0.0380, il_score: 0.5881, rl_score: 0.5747, prev_frame_loss_waypoint_0: 0.2915, prev_frame_loss_rl_bc_0: 0.0417, loss: 1.7791, grad_norm: 59.5144, il_score_sum: 53.2147, rl_score_sum: 53.5426, score_diff: -0.3279, il_win: 23.6500, rl_win: 11.4000
2025-09-24 01:58:13,823 - mmdet - INFO - Epoch [2][3360/3517]	lr: 4.979e-05, eta: 17:15:00, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.3269, debug_std_frame_0: 0.4752, debug_std_frame_1: 0.4972, debug_std_frame_2: 0.5285, debug_std_frame_3: 0.5673, debug_std_frame_4: 0.6147, debug_std_frame_5: 0.6609, loss_rl: -0.1971, loss_critic: 1.3202, loss_rl_bc: 0.0346, il_score: 0.4891, rl_score: 0.5613, prev_frame_loss_waypoint_0: 0.3575, prev_frame_loss_rl_bc_0: 0.0368, loss: 1.8875, grad_norm: 81.3753, il_score_sum: 53.2147, rl_score_sum: 53.5426, score_diff: -0.3279, il_win: 23.6500, rl_win: 11.4000
2025-09-24 01:58:29,847 - mmdet - INFO - Epoch [2][3380/3517]	lr: 4.979e-05, eta: 17:14:44, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2936, debug_std_frame_0: 0.4366, debug_std_frame_1: 0.4611, debug_std_frame_2: 0.4985, debug_std_frame_3: 0.5395, debug_std_frame_4: 0.6021, debug_std_frame_5: 0.6513, loss_rl: -0.1692, loss_critic: 1.3646, loss_rl_bc: 0.0321, il_score: 0.5379, rl_score: 0.5993, prev_frame_loss_waypoint_0: 0.3320, prev_frame_loss_rl_bc_0: 0.0382, loss: 1.8992, grad_norm: 91.1261, il_score_sum: 53.2147, rl_score_sum: 53.5426, score_diff: -0.3279, il_win: 23.6500, rl_win: 11.4000
2025-09-24 01:58:46,211 - mmdet - INFO - Epoch [2][3400/3517]	lr: 4.979e-05, eta: 17:14:32, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.3003, debug_std_frame_0: 0.3626, debug_std_frame_1: 0.3852, debug_std_frame_2: 0.4194, debug_std_frame_3: 0.4617, debug_std_frame_4: 0.5298, debug_std_frame_5: 0.5837, loss_rl: -0.1597, loss_critic: 1.4317, loss_rl_bc: 0.0300, il_score: 0.5537, rl_score: 0.5769, prev_frame_loss_waypoint_0: 0.2956, prev_frame_loss_rl_bc_0: 0.0313, loss: 1.9382, grad_norm: 79.5928, il_score_sum: 53.2934, rl_score_sum: 53.9818, score_diff: -0.6884, il_win: 23.8000, rl_win: 11.8500
2025-09-24 01:59:02,213 - mmdet - INFO - Epoch [2][3420/3517]	lr: 4.979e-05, eta: 17:14:16, time: 0.800, data_time: 0.014, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2438, debug_std_frame_0: 0.3493, debug_std_frame_1: 0.3745, debug_std_frame_2: 0.4177, debug_std_frame_3: 0.4640, debug_std_frame_4: 0.5293, debug_std_frame_5: 0.5868, loss_rl: -0.1575, loss_critic: 1.2689, loss_rl_bc: 0.0300, il_score: 0.5670, rl_score: 0.5660, prev_frame_loss_waypoint_0: 0.2667, prev_frame_loss_rl_bc_0: 0.0319, loss: 1.6921, grad_norm: 65.7528, il_score_sum: 53.2934, rl_score_sum: 53.9818, score_diff: -0.6884, il_win: 23.8000, rl_win: 11.8500
2025-09-24 01:59:18,385 - mmdet - INFO - Epoch [2][3440/3517]	lr: 4.979e-05, eta: 17:14:02, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2648, debug_std_frame_0: 0.4011, debug_std_frame_1: 0.4255, debug_std_frame_2: 0.4690, debug_std_frame_3: 0.5116, debug_std_frame_4: 0.5672, debug_std_frame_5: 0.6234, loss_rl: -0.1906, loss_critic: 1.3619, loss_rl_bc: 0.0359, il_score: 0.5631, rl_score: 0.5236, prev_frame_loss_waypoint_0: 0.2799, prev_frame_loss_rl_bc_0: 0.0452, loss: 1.8045, grad_norm: 78.2819, il_score_sum: 53.2934, rl_score_sum: 53.9818, score_diff: -0.6884, il_win: 23.8000, rl_win: 11.8500
2025-09-24 01:59:34,356 - mmdet - INFO - Epoch [2][3460/3517]	lr: 4.979e-05, eta: 17:13:45, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.3233, debug_std_frame_0: 0.4362, debug_std_frame_1: 0.4629, debug_std_frame_2: 0.5022, debug_std_frame_3: 0.5440, debug_std_frame_4: 0.5960, debug_std_frame_5: 0.6453, loss_rl: -0.1263, loss_critic: 1.1335, loss_rl_bc: 0.0372, il_score: 0.5167, rl_score: 0.5336, prev_frame_loss_waypoint_0: 0.2963, prev_frame_loss_rl_bc_0: 0.0422, loss: 1.7146, grad_norm: 89.6873, il_score_sum: 53.2934, rl_score_sum: 53.9818, score_diff: -0.6884, il_win: 23.8000, rl_win: 11.8500
2025-09-24 01:59:50,343 - mmdet - INFO - Epoch [2][3480/3517]	lr: 4.979e-05, eta: 17:13:29, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2800, debug_std_frame_0: 0.4150, debug_std_frame_1: 0.4350, debug_std_frame_2: 0.4710, debug_std_frame_3: 0.5087, debug_std_frame_4: 0.5683, debug_std_frame_5: 0.6198, loss_rl: -0.2041, loss_critic: 1.3916, loss_rl_bc: 0.0282, il_score: 0.5615, rl_score: 0.5856, prev_frame_loss_waypoint_0: 0.2829, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.8180, grad_norm: 67.4128, il_score_sum: 53.2934, rl_score_sum: 53.9818, score_diff: -0.6884, il_win: 23.8000, rl_win: 11.8500
2025-09-24 02:00:06,408 - mmdet - INFO - Epoch [2][3500/3517]	lr: 4.979e-05, eta: 17:13:13, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2666, debug_std_frame_0: 0.3896, debug_std_frame_1: 0.4115, debug_std_frame_2: 0.4533, debug_std_frame_3: 0.4956, debug_std_frame_4: 0.5541, debug_std_frame_5: 0.6067, loss_rl: -0.2212, loss_critic: 1.5102, loss_rl_bc: 0.0294, il_score: 0.5444, rl_score: 0.5914, prev_frame_loss_waypoint_0: 0.2722, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.8965, grad_norm: 63.9745, il_score_sum: 53.5105, rl_score_sum: 54.1999, score_diff: -0.6894, il_win: 23.9500, rl_win: 12.3000
2025-09-24 02:00:19,622 - mmdet - INFO - Saving checkpoint at 2 epochs
2025-09-24 02:02:55,149 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 02:02:55,149 - mmdet - INFO - Epoch(val) [2][753]	plan_L2_1s: 0.8240, plan_L2_2s: 1.4368, plan_L2_3s: 2.1089, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0001, plan_obj_col_3s: 0.0002, plan_obj_box_col_1s: 0.0018, plan_obj_box_col_2s: 0.0044, plan_obj_box_col_3s: 0.0119, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 1.2482, plan_L2_2s_rl_actor: 2.1231, plan_L2_3s_rl_actor: 3.0405, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0001, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0098, plan_obj_box_col_2s_rl_actor: 0.0202, plan_obj_box_col_3s_rl_actor: 0.0290, fut_valid_flag_rl_actor: 1.0000
2025-09-24 02:03:22,194 - mmdet - INFO - Epoch [3][20/3517]	lr: 4.915e-05, eta: 17:12:15, time: 1.351, data_time: 0.413, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2631, debug_std_frame_0: 0.4215, debug_std_frame_1: 0.4429, debug_std_frame_2: 0.4766, debug_std_frame_3: 0.5206, debug_std_frame_4: 0.5721, debug_std_frame_5: 0.6208, loss_rl: -0.1321, loss_critic: 1.2987, loss_rl_bc: 0.0407, il_score: 0.5702, rl_score: 0.5484, prev_frame_loss_waypoint_0: 0.2730, prev_frame_loss_rl_bc_0: 0.0417, loss: 1.7939, grad_norm: 73.4682
2025-09-24 02:03:38,801 - mmdet - INFO - Epoch [3][40/3517]	lr: 4.915e-05, eta: 17:12:05, time: 0.829, data_time: 0.012, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2519, debug_std_frame_0: 0.4429, debug_std_frame_1: 0.4619, debug_std_frame_2: 0.4906, debug_std_frame_3: 0.5342, debug_std_frame_4: 0.5813, debug_std_frame_5: 0.6247, loss_rl: -0.1507, loss_critic: 1.4553, loss_rl_bc: 0.0370, il_score: 0.5634, rl_score: 0.5345, prev_frame_loss_waypoint_0: 0.2760, prev_frame_loss_rl_bc_0: 0.0404, loss: 1.9196, grad_norm: 63.9283
2025-09-24 02:03:58,951 - mmdet - INFO - Epoch [3][60/3517]	lr: 4.915e-05, eta: 17:12:34, time: 1.009, data_time: 0.014, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.2942, debug_std_frame_0: 0.4773, debug_std_frame_1: 0.4959, debug_std_frame_2: 0.5230, debug_std_frame_3: 0.5654, debug_std_frame_4: 0.6134, debug_std_frame_5: 0.6584, loss_rl: -0.1061, loss_critic: 1.3180, loss_rl_bc: 0.0557, il_score: 0.5660, rl_score: 0.4878, prev_frame_loss_waypoint_0: 0.2780, prev_frame_loss_rl_bc_0: 0.0513, loss: 1.9001, grad_norm: 62.8542
2025-09-24 02:04:17,093 - mmdet - INFO - Epoch [3][80/3517]	lr: 4.915e-05, eta: 17:12:41, time: 0.907, data_time: 0.013, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2364, debug_std_frame_0: 0.5311, debug_std_frame_1: 0.5453, debug_std_frame_2: 0.5649, debug_std_frame_3: 0.6010, debug_std_frame_4: 0.6478, debug_std_frame_5: 0.6890, loss_rl: -0.1610, loss_critic: 1.4118, loss_rl_bc: 0.0419, il_score: 0.5722, rl_score: 0.5280, prev_frame_loss_waypoint_0: 0.2677, prev_frame_loss_rl_bc_0: 0.0433, loss: 1.8489, grad_norm: 74.9422, il_score_sum: 57.0996, rl_score_sum: 53.8038, score_diff: 3.2958, il_win: 26.0000, rl_win: 17.0000
2025-09-24 02:04:33,324 - mmdet - INFO - Epoch [3][100/3517]	lr: 4.915e-05, eta: 17:12:27, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2174, debug_std_frame_0: 0.4828, debug_std_frame_1: 0.4989, debug_std_frame_2: 0.5176, debug_std_frame_3: 0.5518, debug_std_frame_4: 0.5939, debug_std_frame_5: 0.6364, loss_rl: -0.2438, loss_critic: 1.4264, loss_rl_bc: 0.0265, il_score: 0.6225, rl_score: 0.6273, prev_frame_loss_waypoint_0: 0.2484, prev_frame_loss_rl_bc_0: 0.0364, loss: 1.7203, grad_norm: 62.2012, il_score_sum: 57.0996, rl_score_sum: 53.8038, score_diff: 3.2958, il_win: 26.0000, rl_win: 17.0000
2025-09-24 02:04:49,579 - mmdet - INFO - Epoch [3][120/3517]	lr: 4.915e-05, eta: 17:12:14, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.3170, debug_std_frame_0: 0.4776, debug_std_frame_1: 0.4995, debug_std_frame_2: 0.5319, debug_std_frame_3: 0.5786, debug_std_frame_4: 0.6255, debug_std_frame_5: 0.6678, loss_rl: -0.2048, loss_critic: 1.4912, loss_rl_bc: 0.0311, il_score: 0.4913, rl_score: 0.5586, prev_frame_loss_waypoint_0: 0.3398, prev_frame_loss_rl_bc_0: 0.0315, loss: 2.0138, grad_norm: 104.0218, il_score_sum: 57.0996, rl_score_sum: 53.8038, score_diff: 3.2958, il_win: 26.0000, rl_win: 17.0000
2025-09-24 02:05:05,965 - mmdet - INFO - Epoch [3][140/3517]	lr: 4.915e-05, eta: 17:12:01, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2745, debug_std_frame_0: 0.4204, debug_std_frame_1: 0.4387, debug_std_frame_2: 0.4712, debug_std_frame_3: 0.5180, debug_std_frame_4: 0.5692, debug_std_frame_5: 0.6151, loss_rl: -0.1871, loss_critic: 1.2268, loss_rl_bc: 0.0311, il_score: 0.5522, rl_score: 0.5833, prev_frame_loss_waypoint_0: 0.3024, prev_frame_loss_rl_bc_0: 0.0361, loss: 1.6923, grad_norm: 79.4216, il_score_sum: 57.0996, rl_score_sum: 53.8038, score_diff: 3.2958, il_win: 26.0000, rl_win: 17.0000
2025-09-24 02:05:22,521 - mmdet - INFO - Epoch [3][160/3517]	lr: 4.915e-05, eta: 17:11:51, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2266, debug_std_frame_0: 0.3521, debug_std_frame_1: 0.3723, debug_std_frame_2: 0.4068, debug_std_frame_3: 0.4576, debug_std_frame_4: 0.5137, debug_std_frame_5: 0.5678, loss_rl: -0.2092, loss_critic: 1.6748, loss_rl_bc: 0.0282, il_score: 0.5274, rl_score: 0.5337, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0291, loss: 2.0079, grad_norm: 54.8663, il_score_sum: 57.0996, rl_score_sum: 53.8038, score_diff: 3.2958, il_win: 26.0000, rl_win: 17.0000
2025-09-24 02:05:39,073 - mmdet - INFO - Epoch [3][180/3517]	lr: 4.915e-05, eta: 17:11:40, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2611, debug_std_frame_0: 0.3871, debug_std_frame_1: 0.4087, debug_std_frame_2: 0.4459, debug_std_frame_3: 0.4949, debug_std_frame_4: 0.5525, debug_std_frame_5: 0.6061, loss_rl: -0.1552, loss_critic: 1.5194, loss_rl_bc: 0.0399, il_score: 0.5495, rl_score: 0.5346, prev_frame_loss_waypoint_0: 0.2783, prev_frame_loss_rl_bc_0: 0.0403, loss: 1.9918, grad_norm: 77.4730, il_score_sum: 55.9236, rl_score_sum: 55.2405, score_diff: 0.6832, il_win: 26.0000, rl_win: 17.5000
2025-09-24 02:05:55,332 - mmdet - INFO - Epoch [3][200/3517]	lr: 4.915e-05, eta: 17:11:27, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2738, debug_std_frame_0: 0.3973, debug_std_frame_1: 0.4231, debug_std_frame_2: 0.4627, debug_std_frame_3: 0.5171, debug_std_frame_4: 0.5706, debug_std_frame_5: 0.6207, loss_rl: -0.1363, loss_critic: 1.5166, loss_rl_bc: 0.0354, il_score: 0.5339, rl_score: 0.5356, prev_frame_loss_waypoint_0: 0.2886, prev_frame_loss_rl_bc_0: 0.0349, loss: 2.0214, grad_norm: 71.5214, il_score_sum: 55.9236, rl_score_sum: 55.2405, score_diff: 0.6832, il_win: 26.0000, rl_win: 17.5000
2025-09-24 02:06:11,943 - mmdet - INFO - Epoch [3][220/3517]	lr: 4.915e-05, eta: 17:11:17, time: 0.831, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2798, debug_std_frame_0: 0.4127, debug_std_frame_1: 0.4406, debug_std_frame_2: 0.4821, debug_std_frame_3: 0.5315, debug_std_frame_4: 0.5833, debug_std_frame_5: 0.6353, loss_rl: -0.1819, loss_critic: 1.5146, loss_rl_bc: 0.0402, il_score: 0.5560, rl_score: 0.5537, prev_frame_loss_waypoint_0: 0.3023, prev_frame_loss_rl_bc_0: 0.0439, loss: 2.0072, grad_norm: 68.6793, il_score_sum: 55.9236, rl_score_sum: 55.2405, score_diff: 0.6832, il_win: 26.0000, rl_win: 17.5000
2025-09-24 02:06:28,795 - mmdet - INFO - Epoch [3][240/3517]	lr: 4.915e-05, eta: 17:11:09, time: 0.842, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2868, debug_std_frame_0: 0.4582, debug_std_frame_1: 0.4884, debug_std_frame_2: 0.5298, debug_std_frame_3: 0.5849, debug_std_frame_4: 0.6319, debug_std_frame_5: 0.6752, loss_rl: -0.0946, loss_critic: 1.3604, loss_rl_bc: 0.0575, il_score: 0.5539, rl_score: 0.4537, prev_frame_loss_waypoint_0: 0.2981, prev_frame_loss_rl_bc_0: 0.0568, loss: 1.9726, grad_norm: 69.8855, il_score_sum: 55.9236, rl_score_sum: 55.2405, score_diff: 0.6832, il_win: 26.0000, rl_win: 17.5000
2025-09-24 02:06:45,226 - mmdet - INFO - Epoch [3][260/3517]	lr: 4.915e-05, eta: 17:10:58, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2564, debug_std_frame_0: 0.5113, debug_std_frame_1: 0.5239, debug_std_frame_2: 0.5446, debug_std_frame_3: 0.5818, debug_std_frame_4: 0.6233, debug_std_frame_5: 0.6625, loss_rl: -0.1901, loss_critic: 1.6419, loss_rl_bc: 0.0366, il_score: 0.5746, rl_score: 0.5603, prev_frame_loss_waypoint_0: 0.2697, prev_frame_loss_rl_bc_0: 0.0394, loss: 2.0620, grad_norm: 60.9458, il_score_sum: 55.9236, rl_score_sum: 55.2405, score_diff: 0.6832, il_win: 26.0000, rl_win: 17.5000
2025-09-24 02:07:01,659 - mmdet - INFO - Epoch [3][280/3517]	lr: 4.915e-05, eta: 17:10:46, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2603, debug_std_frame_0: 0.4740, debug_std_frame_1: 0.4898, debug_std_frame_2: 0.5127, debug_std_frame_3: 0.5515, debug_std_frame_4: 0.5963, debug_std_frame_5: 0.6425, loss_rl: -0.1673, loss_critic: 1.5572, loss_rl_bc: 0.0370, il_score: 0.5642, rl_score: 0.5595, prev_frame_loss_waypoint_0: 0.2998, prev_frame_loss_rl_bc_0: 0.0358, loss: 2.0305, grad_norm: 71.5857, il_score_sum: 56.0316, rl_score_sum: 54.6921, score_diff: 1.3395, il_win: 26.3333, rl_win: 17.6667
2025-09-24 02:07:17,872 - mmdet - INFO - Epoch [3][300/3517]	lr: 4.915e-05, eta: 17:10:31, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2687, debug_std_frame_0: 0.3995, debug_std_frame_1: 0.4181, debug_std_frame_2: 0.4483, debug_std_frame_3: 0.4900, debug_std_frame_4: 0.5479, debug_std_frame_5: 0.6032, loss_rl: -0.1981, loss_critic: 1.4726, loss_rl_bc: 0.0274, il_score: 0.5782, rl_score: 0.6292, prev_frame_loss_waypoint_0: 0.2806, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.8869, grad_norm: 90.7554, il_score_sum: 56.0316, rl_score_sum: 54.6921, score_diff: 1.3395, il_win: 26.3333, rl_win: 17.6667
2025-09-24 02:07:35,303 - mmdet - INFO - Epoch [3][320/3517]	lr: 4.915e-05, eta: 17:10:30, time: 0.872, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2793, debug_std_frame_0: 0.3765, debug_std_frame_1: 0.3956, debug_std_frame_2: 0.4319, debug_std_frame_3: 0.4733, debug_std_frame_4: 0.5377, debug_std_frame_5: 0.5937, loss_rl: -0.0921, loss_critic: 1.4718, loss_rl_bc: 0.0464, il_score: 0.5720, rl_score: 0.5296, prev_frame_loss_waypoint_0: 0.3115, prev_frame_loss_rl_bc_0: 0.0518, loss: 2.0761, grad_norm: 85.4907, il_score_sum: 56.0316, rl_score_sum: 54.6921, score_diff: 1.3395, il_win: 26.3333, rl_win: 17.6667
2025-09-24 02:07:51,692 - mmdet - INFO - Epoch [3][340/3517]	lr: 4.915e-05, eta: 17:10:17, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2045, debug_std_frame_0: 0.4351, debug_std_frame_1: 0.4556, debug_std_frame_2: 0.4911, debug_std_frame_3: 0.5340, debug_std_frame_4: 0.5939, debug_std_frame_5: 0.6366, loss_rl: -0.1803, loss_critic: 1.4772, loss_rl_bc: 0.0304, il_score: 0.6112, rl_score: 0.5654, prev_frame_loss_waypoint_0: 0.2663, prev_frame_loss_rl_bc_0: 0.0546, loss: 1.8608, grad_norm: 60.6364, il_score_sum: 56.0316, rl_score_sum: 54.6921, score_diff: 1.3395, il_win: 26.3333, rl_win: 17.6667
2025-09-24 02:08:07,774 - mmdet - INFO - Epoch [3][360/3517]	lr: 4.915e-05, eta: 17:10:02, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2453, debug_std_frame_0: 0.4236, debug_std_frame_1: 0.4453, debug_std_frame_2: 0.4801, debug_std_frame_3: 0.5240, debug_std_frame_4: 0.5817, debug_std_frame_5: 0.6219, loss_rl: -0.1702, loss_critic: 1.2966, loss_rl_bc: 0.0341, il_score: 0.5812, rl_score: 0.5705, prev_frame_loss_waypoint_0: 0.2610, prev_frame_loss_rl_bc_0: 0.0407, loss: 1.7153, grad_norm: 77.6243, il_score_sum: 56.0316, rl_score_sum: 54.6921, score_diff: 1.3395, il_win: 26.3333, rl_win: 17.6667
2025-09-24 02:08:24,038 - mmdet - INFO - Epoch [3][380/3517]	lr: 4.915e-05, eta: 17:09:48, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2573, debug_std_frame_0: 0.4626, debug_std_frame_1: 0.4816, debug_std_frame_2: 0.5199, debug_std_frame_3: 0.5621, debug_std_frame_4: 0.6132, debug_std_frame_5: 0.6534, loss_rl: -0.1340, loss_critic: 1.3892, loss_rl_bc: 0.0382, il_score: 0.5610, rl_score: 0.5493, prev_frame_loss_waypoint_0: 0.2863, prev_frame_loss_rl_bc_0: 0.0383, loss: 1.8831, grad_norm: 74.5605, il_score_sum: 56.3847, rl_score_sum: 55.0916, score_diff: 1.2931, il_win: 26.7500, rl_win: 17.7500
2025-09-24 02:08:40,308 - mmdet - INFO - Epoch [3][400/3517]	lr: 4.915e-05, eta: 17:09:34, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.3045, debug_std_frame_0: 0.4319, debug_std_frame_1: 0.4485, debug_std_frame_2: 0.4823, debug_std_frame_3: 0.5224, debug_std_frame_4: 0.5752, debug_std_frame_5: 0.6172, loss_rl: -0.2102, loss_critic: 1.6853, loss_rl_bc: 0.0306, il_score: 0.5603, rl_score: 0.6144, prev_frame_loss_waypoint_0: 0.3144, prev_frame_loss_rl_bc_0: 0.0369, loss: 2.1689, grad_norm: 119.5345, il_score_sum: 56.3847, rl_score_sum: 55.0916, score_diff: 1.2931, il_win: 26.7500, rl_win: 17.7500
2025-09-24 02:08:56,493 - mmdet - INFO - Epoch [3][420/3517]	lr: 4.915e-05, eta: 17:09:19, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2275, debug_std_frame_0: 0.4030, debug_std_frame_1: 0.4207, debug_std_frame_2: 0.4599, debug_std_frame_3: 0.5027, debug_std_frame_4: 0.5557, debug_std_frame_5: 0.5980, loss_rl: -0.1494, loss_critic: 1.5128, loss_rl_bc: 0.0361, il_score: 0.5878, rl_score: 0.5349, prev_frame_loss_waypoint_0: 0.2392, prev_frame_loss_rl_bc_0: 0.0353, loss: 1.9092, grad_norm: 66.4944, il_score_sum: 56.3847, rl_score_sum: 55.0916, score_diff: 1.2931, il_win: 26.7500, rl_win: 17.7500
2025-09-24 02:09:12,677 - mmdet - INFO - Epoch [3][440/3517]	lr: 4.915e-05, eta: 17:09:05, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2734, debug_std_frame_0: 0.4366, debug_std_frame_1: 0.4539, debug_std_frame_2: 0.4857, debug_std_frame_3: 0.5234, debug_std_frame_4: 0.5665, debug_std_frame_5: 0.6054, loss_rl: -0.1393, loss_critic: 1.1665, loss_rl_bc: 0.0506, il_score: 0.5815, rl_score: 0.5135, prev_frame_loss_waypoint_0: 0.2709, prev_frame_loss_rl_bc_0: 0.0546, loss: 1.6841, grad_norm: 69.8632, il_score_sum: 56.3847, rl_score_sum: 55.0916, score_diff: 1.2931, il_win: 26.7500, rl_win: 17.7500
2025-09-24 02:09:31,079 - mmdet - INFO - Epoch [3][460/3517]	lr: 4.915e-05, eta: 17:09:13, time: 0.920, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2927, debug_std_frame_0: 0.5358, debug_std_frame_1: 0.5445, debug_std_frame_2: 0.5696, debug_std_frame_3: 0.6092, debug_std_frame_4: 0.6546, debug_std_frame_5: 0.6901, loss_rl: -0.1115, loss_critic: 1.2093, loss_rl_bc: 0.0485, il_score: 0.5522, rl_score: 0.4979, prev_frame_loss_waypoint_0: 0.3089, prev_frame_loss_rl_bc_0: 0.0546, loss: 1.8105, grad_norm: 90.8234, il_score_sum: 56.3847, rl_score_sum: 55.0916, score_diff: 1.2931, il_win: 26.7500, rl_win: 17.7500
2025-09-24 02:09:47,345 - mmdet - INFO - Epoch [3][480/3517]	lr: 4.915e-05, eta: 17:08:59, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2969, debug_std_frame_0: 0.5528, debug_std_frame_1: 0.5643, debug_std_frame_2: 0.5907, debug_std_frame_3: 0.6298, debug_std_frame_4: 0.6794, debug_std_frame_5: 0.7162, loss_rl: -0.1843, loss_critic: 1.3891, loss_rl_bc: 0.0379, il_score: 0.5428, rl_score: 0.5287, prev_frame_loss_waypoint_0: 0.3235, prev_frame_loss_rl_bc_0: 0.0409, loss: 1.9115, grad_norm: 71.7278, il_score_sum: 56.5190, rl_score_sum: 54.9626, score_diff: 1.5564, il_win: 27.2000, rl_win: 17.8000
2025-09-24 02:10:03,664 - mmdet - INFO - Epoch [3][500/3517]	lr: 4.915e-05, eta: 17:08:45, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2388, debug_std_frame_0: 0.4614, debug_std_frame_1: 0.4758, debug_std_frame_2: 0.5046, debug_std_frame_3: 0.5389, debug_std_frame_4: 0.5877, debug_std_frame_5: 0.6237, loss_rl: -0.2231, loss_critic: 1.3253, loss_rl_bc: 0.0297, il_score: 0.5701, rl_score: 0.5808, prev_frame_loss_waypoint_0: 0.2604, prev_frame_loss_rl_bc_0: 0.0366, loss: 1.6763, grad_norm: 62.2411, il_score_sum: 56.5190, rl_score_sum: 54.9626, score_diff: 1.5564, il_win: 27.2000, rl_win: 17.8000
2025-09-24 02:10:19,758 - mmdet - INFO - Epoch [3][520/3517]	lr: 4.915e-05, eta: 17:08:30, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.3946, debug_std_frame_0: 0.4559, debug_std_frame_1: 0.4783, debug_std_frame_2: 0.5336, debug_std_frame_3: 0.5797, debug_std_frame_4: 0.6329, debug_std_frame_5: 0.6669, loss_rl: -0.1285, loss_critic: 1.2984, loss_rl_bc: 0.0748, il_score: 0.4767, rl_score: 0.5304, prev_frame_loss_waypoint_0: 0.4248, prev_frame_loss_rl_bc_0: 0.0724, loss: 2.1447, grad_norm: 96.8613, il_score_sum: 56.5190, rl_score_sum: 54.9626, score_diff: 1.5564, il_win: 27.2000, rl_win: 17.8000
2025-09-24 02:10:35,890 - mmdet - INFO - Epoch [3][540/3517]	lr: 4.915e-05, eta: 17:08:14, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.3516, debug_std_frame_0: 0.4507, debug_std_frame_1: 0.4810, debug_std_frame_2: 0.5471, debug_std_frame_3: 0.5919, debug_std_frame_4: 0.6433, debug_std_frame_5: 0.6736, loss_rl: -0.1403, loss_critic: 1.1227, loss_rl_bc: 0.0349, il_score: 0.4785, rl_score: 0.5673, prev_frame_loss_waypoint_0: 0.3719, prev_frame_loss_rl_bc_0: 0.0399, loss: 1.7895, grad_norm: 86.3763, il_score_sum: 56.5190, rl_score_sum: 54.9626, score_diff: 1.5564, il_win: 27.2000, rl_win: 17.8000
2025-09-24 02:10:52,113 - mmdet - INFO - Epoch [3][560/3517]	lr: 4.915e-05, eta: 17:08:00, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.3265, debug_std_frame_0: 0.3781, debug_std_frame_1: 0.4090, debug_std_frame_2: 0.4852, debug_std_frame_3: 0.5372, debug_std_frame_4: 0.5934, debug_std_frame_5: 0.6277, loss_rl: -0.1604, loss_critic: 1.5791, loss_rl_bc: 0.0365, il_score: 0.5019, rl_score: 0.5636, prev_frame_loss_waypoint_0: 0.3430, prev_frame_loss_rl_bc_0: 0.0446, loss: 2.1791, grad_norm: 71.5717, il_score_sum: 56.5190, rl_score_sum: 54.9626, score_diff: 1.5564, il_win: 27.2000, rl_win: 17.8000
2025-09-24 02:11:08,266 - mmdet - INFO - Epoch [3][580/3517]	lr: 4.915e-05, eta: 17:07:45, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.2466, debug_std_frame_0: 0.4544, debug_std_frame_1: 0.4769, debug_std_frame_2: 0.5271, debug_std_frame_3: 0.5698, debug_std_frame_4: 0.6195, debug_std_frame_5: 0.6528, loss_rl: -0.1380, loss_critic: 1.2124, loss_rl_bc: 0.0418, il_score: 0.5807, rl_score: 0.5088, prev_frame_loss_waypoint_0: 0.2389, prev_frame_loss_rl_bc_0: 0.0456, loss: 1.6563, grad_norm: 53.0709, il_score_sum: 55.6665, rl_score_sum: 55.0029, score_diff: 0.6636, il_win: 27.5000, rl_win: 18.0000
2025-09-24 02:11:24,320 - mmdet - INFO - Epoch [3][600/3517]	lr: 4.915e-05, eta: 17:07:29, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2723, debug_std_frame_0: 0.4858, debug_std_frame_1: 0.5002, debug_std_frame_2: 0.5320, debug_std_frame_3: 0.5647, debug_std_frame_4: 0.6124, debug_std_frame_5: 0.6516, loss_rl: -0.1896, loss_critic: 1.0984, loss_rl_bc: 0.0326, il_score: 0.5293, rl_score: 0.5594, prev_frame_loss_waypoint_0: 0.2916, prev_frame_loss_rl_bc_0: 0.0335, loss: 1.5470, grad_norm: 79.2048, il_score_sum: 55.6665, rl_score_sum: 55.0029, score_diff: 0.6636, il_win: 27.5000, rl_win: 18.0000
2025-09-24 02:11:40,392 - mmdet - INFO - Epoch [3][620/3517]	lr: 4.915e-05, eta: 17:07:13, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2762, debug_std_frame_0: 0.4538, debug_std_frame_1: 0.4709, debug_std_frame_2: 0.5012, debug_std_frame_3: 0.5327, debug_std_frame_4: 0.5754, debug_std_frame_5: 0.6148, loss_rl: -0.1777, loss_critic: 1.3347, loss_rl_bc: 0.0381, il_score: 0.5562, rl_score: 0.5596, prev_frame_loss_waypoint_0: 0.3003, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.8184, grad_norm: 77.3541, il_score_sum: 55.6665, rl_score_sum: 55.0029, score_diff: 0.6636, il_win: 27.5000, rl_win: 18.0000
2025-09-24 02:11:56,465 - mmdet - INFO - Epoch [3][640/3517]	lr: 4.915e-05, eta: 17:06:57, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2529, debug_std_frame_0: 0.4377, debug_std_frame_1: 0.4563, debug_std_frame_2: 0.4845, debug_std_frame_3: 0.5150, debug_std_frame_4: 0.5591, debug_std_frame_5: 0.5985, loss_rl: -0.1831, loss_critic: 1.5847, loss_rl_bc: 0.0350, il_score: 0.5731, rl_score: 0.5859, prev_frame_loss_waypoint_0: 0.2612, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.9887, grad_norm: 84.7718, il_score_sum: 55.6665, rl_score_sum: 55.0029, score_diff: 0.6636, il_win: 27.5000, rl_win: 18.0000
2025-09-24 02:12:12,411 - mmdet - INFO - Epoch [3][660/3517]	lr: 4.915e-05, eta: 17:06:40, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2559, debug_std_frame_0: 0.4524, debug_std_frame_1: 0.4748, debug_std_frame_2: 0.5079, debug_std_frame_3: 0.5462, debug_std_frame_4: 0.5970, debug_std_frame_5: 0.6367, loss_rl: -0.1037, loss_critic: 1.3417, loss_rl_bc: 0.0439, il_score: 0.5400, rl_score: 0.4834, prev_frame_loss_waypoint_0: 0.2863, prev_frame_loss_rl_bc_0: 0.0480, loss: 1.8810, grad_norm: 72.8876, il_score_sum: 55.6665, rl_score_sum: 55.0029, score_diff: 0.6636, il_win: 27.5000, rl_win: 18.0000
2025-09-24 02:12:28,714 - mmdet - INFO - Epoch [3][680/3517]	lr: 4.915e-05, eta: 17:06:26, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2624, debug_std_frame_0: 0.5110, debug_std_frame_1: 0.5375, debug_std_frame_2: 0.5725, debug_std_frame_3: 0.6125, debug_std_frame_4: 0.6653, debug_std_frame_5: 0.7008, loss_rl: -0.1397, loss_critic: 1.1042, loss_rl_bc: 0.0384, il_score: 0.5796, rl_score: 0.5612, prev_frame_loss_waypoint_0: 0.2618, prev_frame_loss_rl_bc_0: 0.0405, loss: 1.5758, grad_norm: 73.3814, il_score_sum: 55.6675, rl_score_sum: 54.8410, score_diff: 0.8265, il_win: 27.8571, rl_win: 18.1429
2025-09-24 02:12:44,610 - mmdet - INFO - Epoch [3][700/3517]	lr: 4.915e-05, eta: 17:06:08, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2810, debug_std_frame_0: 0.4600, debug_std_frame_1: 0.4842, debug_std_frame_2: 0.5218, debug_std_frame_3: 0.5675, debug_std_frame_4: 0.6240, debug_std_frame_5: 0.6623, loss_rl: -0.1151, loss_critic: 1.1102, loss_rl_bc: 0.0482, il_score: 0.5436, rl_score: 0.4934, prev_frame_loss_waypoint_0: 0.2867, prev_frame_loss_rl_bc_0: 0.0477, loss: 1.6677, grad_norm: 67.9147, il_score_sum: 55.6675, rl_score_sum: 54.8410, score_diff: 0.8265, il_win: 27.8571, rl_win: 18.1429
2025-09-24 02:13:00,670 - mmdet - INFO - Epoch [3][720/3517]	lr: 4.915e-05, eta: 17:05:52, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2784, debug_std_frame_0: 0.5109, debug_std_frame_1: 0.5381, debug_std_frame_2: 0.5805, debug_std_frame_3: 0.6265, debug_std_frame_4: 0.6876, debug_std_frame_5: 0.7234, loss_rl: -0.1182, loss_critic: 1.2325, loss_rl_bc: 0.0488, il_score: 0.5624, rl_score: 0.5280, prev_frame_loss_waypoint_0: 0.3269, prev_frame_loss_rl_bc_0: 0.0581, loss: 1.8345, grad_norm: 94.1082, il_score_sum: 55.6675, rl_score_sum: 54.8410, score_diff: 0.8265, il_win: 27.8571, rl_win: 18.1429
2025-09-24 02:13:16,592 - mmdet - INFO - Epoch [3][740/3517]	lr: 4.915e-05, eta: 17:05:35, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2665, debug_std_frame_0: 0.4519, debug_std_frame_1: 0.4779, debug_std_frame_2: 0.5237, debug_std_frame_3: 0.5822, debug_std_frame_4: 0.6444, debug_std_frame_5: 0.6796, loss_rl: -0.1777, loss_critic: 1.4041, loss_rl_bc: 0.0344, il_score: 0.5560, rl_score: 0.5538, prev_frame_loss_waypoint_0: 0.3001, prev_frame_loss_rl_bc_0: 0.0350, loss: 1.8702, grad_norm: 64.4435, il_score_sum: 55.6675, rl_score_sum: 54.8410, score_diff: 0.8265, il_win: 27.8571, rl_win: 18.1429
2025-09-24 02:13:32,735 - mmdet - INFO - Epoch [3][760/3517]	lr: 4.915e-05, eta: 17:05:20, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2966, debug_std_frame_0: 0.3758, debug_std_frame_1: 0.3992, debug_std_frame_2: 0.4398, debug_std_frame_3: 0.5001, debug_std_frame_4: 0.5746, debug_std_frame_5: 0.6142, loss_rl: -0.1734, loss_critic: 1.3225, loss_rl_bc: 0.0295, il_score: 0.5353, rl_score: 0.5890, prev_frame_loss_waypoint_0: 0.3331, prev_frame_loss_rl_bc_0: 0.0368, loss: 1.8534, grad_norm: 83.7372, il_score_sum: 55.6675, rl_score_sum: 54.8410, score_diff: 0.8265, il_win: 27.8571, rl_win: 18.1429
2025-09-24 02:13:48,887 - mmdet - INFO - Epoch [3][780/3517]	lr: 4.915e-05, eta: 17:05:04, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2674, debug_std_frame_0: 0.3746, debug_std_frame_1: 0.4001, debug_std_frame_2: 0.4420, debug_std_frame_3: 0.5041, debug_std_frame_4: 0.5729, debug_std_frame_5: 0.6152, loss_rl: -0.1432, loss_critic: 1.3793, loss_rl_bc: 0.0379, il_score: 0.6022, rl_score: 0.5603, prev_frame_loss_waypoint_0: 0.2931, prev_frame_loss_rl_bc_0: 0.0411, loss: 1.8843, grad_norm: 69.8435, il_score_sum: 55.6864, rl_score_sum: 54.8382, score_diff: 0.8482, il_win: 28.2500, rl_win: 18.2500
2025-09-24 02:14:04,975 - mmdet - INFO - Epoch [3][800/3517]	lr: 4.915e-05, eta: 17:04:49, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.3012, debug_std_frame_0: 0.4566, debug_std_frame_1: 0.4860, debug_std_frame_2: 0.5277, debug_std_frame_3: 0.5896, debug_std_frame_4: 0.6430, debug_std_frame_5: 0.6763, loss_rl: -0.1263, loss_critic: 1.1819, loss_rl_bc: 0.0422, il_score: 0.5572, rl_score: 0.5479, prev_frame_loss_waypoint_0: 0.3466, prev_frame_loss_rl_bc_0: 0.0508, loss: 1.8048, grad_norm: 98.8911, il_score_sum: 55.6864, rl_score_sum: 54.8382, score_diff: 0.8482, il_win: 28.2500, rl_win: 18.2500
2025-09-24 02:14:21,200 - mmdet - INFO - Epoch [3][820/3517]	lr: 4.915e-05, eta: 17:04:34, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2631, debug_std_frame_0: 0.4478, debug_std_frame_1: 0.4782, debug_std_frame_2: 0.5152, debug_std_frame_3: 0.5792, debug_std_frame_4: 0.6345, debug_std_frame_5: 0.6694, loss_rl: -0.1624, loss_critic: 1.1745, loss_rl_bc: 0.0368, il_score: 0.5839, rl_score: 0.5812, prev_frame_loss_waypoint_0: 0.2791, prev_frame_loss_rl_bc_0: 0.0394, loss: 1.6383, grad_norm: 59.2215, il_score_sum: 55.6864, rl_score_sum: 54.8382, score_diff: 0.8482, il_win: 28.2500, rl_win: 18.2500
2025-09-24 02:14:37,419 - mmdet - INFO - Epoch [3][840/3517]	lr: 4.915e-05, eta: 17:04:20, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.3163, debug_std_frame_0: 0.3853, debug_std_frame_1: 0.4141, debug_std_frame_2: 0.4522, debug_std_frame_3: 0.5167, debug_std_frame_4: 0.5771, debug_std_frame_5: 0.6173, loss_rl: -0.1910, loss_critic: 1.3842, loss_rl_bc: 0.0353, il_score: 0.5421, rl_score: 0.5972, prev_frame_loss_waypoint_0: 0.3284, prev_frame_loss_rl_bc_0: 0.0343, loss: 1.9152, grad_norm: 109.8357, il_score_sum: 55.6864, rl_score_sum: 54.8382, score_diff: 0.8482, il_win: 28.2500, rl_win: 18.2500
2025-09-24 02:14:53,531 - mmdet - INFO - Epoch [3][860/3517]	lr: 4.915e-05, eta: 17:04:04, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2560, debug_std_frame_0: 0.3581, debug_std_frame_1: 0.3854, debug_std_frame_2: 0.4240, debug_std_frame_3: 0.4831, debug_std_frame_4: 0.5427, debug_std_frame_5: 0.5869, loss_rl: -0.1909, loss_critic: 1.2834, loss_rl_bc: 0.0234, il_score: 0.5667, rl_score: 0.5955, prev_frame_loss_waypoint_0: 0.2597, prev_frame_loss_rl_bc_0: 0.0248, loss: 1.6648, grad_norm: 66.9771, il_score_sum: 55.6864, rl_score_sum: 54.8382, score_diff: 0.8482, il_win: 28.2500, rl_win: 18.2500
2025-09-24 02:15:09,815 - mmdet - INFO - Epoch [3][880/3517]	lr: 4.915e-05, eta: 17:03:50, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2855, debug_std_frame_0: 0.3405, debug_std_frame_1: 0.3719, debug_std_frame_2: 0.4200, debug_std_frame_3: 0.4797, debug_std_frame_4: 0.5464, debug_std_frame_5: 0.5941, loss_rl: -0.1785, loss_critic: 1.6349, loss_rl_bc: 0.0395, il_score: 0.5492, rl_score: 0.5583, prev_frame_loss_waypoint_0: 0.2812, prev_frame_loss_rl_bc_0: 0.0365, loss: 2.1086, grad_norm: 63.1665, il_score_sum: 55.8141, rl_score_sum: 55.1801, score_diff: 0.6339, il_win: 28.5556, rl_win: 18.4444
2025-09-24 02:15:25,759 - mmdet - INFO - Epoch [3][900/3517]	lr: 4.915e-05, eta: 17:03:33, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2736, debug_std_frame_0: 0.3880, debug_std_frame_1: 0.4221, debug_std_frame_2: 0.4670, debug_std_frame_3: 0.5236, debug_std_frame_4: 0.5812, debug_std_frame_5: 0.6205, loss_rl: -0.1174, loss_critic: 1.5297, loss_rl_bc: 0.0626, il_score: 0.5556, rl_score: 0.4813, prev_frame_loss_waypoint_0: 0.2878, prev_frame_loss_rl_bc_0: 0.0563, loss: 2.1011, grad_norm: 100.3942, il_score_sum: 55.8141, rl_score_sum: 55.1801, score_diff: 0.6339, il_win: 28.5556, rl_win: 18.4444
2025-09-24 02:15:41,671 - mmdet - INFO - Epoch [3][920/3517]	lr: 4.915e-05, eta: 17:03:15, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2252, debug_std_frame_0: 0.4841, debug_std_frame_1: 0.5111, debug_std_frame_2: 0.5462, debug_std_frame_3: 0.5961, debug_std_frame_4: 0.6443, debug_std_frame_5: 0.6780, loss_rl: -0.1486, loss_critic: 1.4168, loss_rl_bc: 0.0450, il_score: 0.5929, rl_score: 0.5035, prev_frame_loss_waypoint_0: 0.2671, prev_frame_loss_rl_bc_0: 0.0464, loss: 1.8607, grad_norm: 70.1781, il_score_sum: 55.8141, rl_score_sum: 55.1801, score_diff: 0.6339, il_win: 28.5556, rl_win: 18.4444
2025-09-24 02:15:57,526 - mmdet - INFO - Epoch [3][940/3517]	lr: 4.915e-05, eta: 17:02:57, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2570, debug_std_frame_0: 0.5175, debug_std_frame_1: 0.5412, debug_std_frame_2: 0.5725, debug_std_frame_3: 0.6223, debug_std_frame_4: 0.6689, debug_std_frame_5: 0.7039, loss_rl: -0.1898, loss_critic: 1.4287, loss_rl_bc: 0.0403, il_score: 0.5734, rl_score: 0.5631, prev_frame_loss_waypoint_0: 0.2840, prev_frame_loss_rl_bc_0: 0.0411, loss: 1.8698, grad_norm: 72.5818, il_score_sum: 55.8141, rl_score_sum: 55.1801, score_diff: 0.6339, il_win: 28.5556, rl_win: 18.4444
2025-09-24 02:16:13,513 - mmdet - INFO - Epoch [3][960/3517]	lr: 4.915e-05, eta: 17:02:41, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2239, debug_std_frame_0: 0.3891, debug_std_frame_1: 0.4132, debug_std_frame_2: 0.4449, debug_std_frame_3: 0.4965, debug_std_frame_4: 0.5488, debug_std_frame_5: 0.5850, loss_rl: -0.2132, loss_critic: 1.2483, loss_rl_bc: 0.0243, il_score: 0.6150, rl_score: 0.6074, prev_frame_loss_waypoint_0: 0.2445, prev_frame_loss_rl_bc_0: 0.0271, loss: 1.5637, grad_norm: 55.6222, il_score_sum: 55.8141, rl_score_sum: 55.1801, score_diff: 0.6339, il_win: 28.5556, rl_win: 18.4444
2025-09-24 02:16:29,671 - mmdet - INFO - Epoch [3][980/3517]	lr: 4.915e-05, eta: 17:02:25, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2861, debug_std_frame_0: 0.3995, debug_std_frame_1: 0.4207, debug_std_frame_2: 0.4629, debug_std_frame_3: 0.5139, debug_std_frame_4: 0.5742, debug_std_frame_5: 0.6159, loss_rl: -0.1388, loss_critic: 1.1909, loss_rl_bc: 0.0336, il_score: 0.5353, rl_score: 0.5474, prev_frame_loss_waypoint_0: 0.3092, prev_frame_loss_rl_bc_0: 0.0376, loss: 1.7262, grad_norm: 90.8323, il_score_sum: 55.9610, rl_score_sum: 55.0735, score_diff: 0.8874, il_win: 28.9000, rl_win: 18.6000
2025-09-24 02:16:45,914 - mmdet - INFO - Epoch [3][1000/3517]	lr: 4.915e-05, eta: 17:02:11, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2949, debug_std_frame_0: 0.3968, debug_std_frame_1: 0.4230, debug_std_frame_2: 0.4615, debug_std_frame_3: 0.5092, debug_std_frame_4: 0.5641, debug_std_frame_5: 0.6000, loss_rl: -0.1069, loss_critic: 1.3458, loss_rl_bc: 0.0577, il_score: 0.5410, rl_score: 0.4911, prev_frame_loss_waypoint_0: 0.3180, prev_frame_loss_rl_bc_0: 0.0637, loss: 1.9805, grad_norm: 85.9161, il_score_sum: 55.9610, rl_score_sum: 55.0735, score_diff: 0.8874, il_win: 28.9000, rl_win: 18.6000
2025-09-24 02:17:02,098 - mmdet - INFO - Epoch [3][1020/3517]	lr: 4.915e-05, eta: 17:01:56, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2663, debug_std_frame_0: 0.4966, debug_std_frame_1: 0.5105, debug_std_frame_2: 0.5323, debug_std_frame_3: 0.5650, debug_std_frame_4: 0.6072, debug_std_frame_5: 0.6362, loss_rl: -0.2153, loss_critic: 1.4628, loss_rl_bc: 0.0290, il_score: 0.5203, rl_score: 0.5470, prev_frame_loss_waypoint_0: 0.2586, prev_frame_loss_rl_bc_0: 0.0316, loss: 1.8406, grad_norm: 86.9455, il_score_sum: 55.9610, rl_score_sum: 55.0735, score_diff: 0.8874, il_win: 28.9000, rl_win: 18.6000
2025-09-24 02:17:18,122 - mmdet - INFO - Epoch [3][1040/3517]	lr: 4.915e-05, eta: 17:01:40, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2528, debug_std_frame_0: 0.5323, debug_std_frame_1: 0.5469, debug_std_frame_2: 0.5719, debug_std_frame_3: 0.6058, debug_std_frame_4: 0.6477, debug_std_frame_5: 0.6778, loss_rl: -0.1267, loss_critic: 1.0908, loss_rl_bc: 0.0427, il_score: 0.5964, rl_score: 0.5443, prev_frame_loss_waypoint_0: 0.2789, prev_frame_loss_rl_bc_0: 0.0405, loss: 1.5869, grad_norm: 80.0181, il_score_sum: 55.9610, rl_score_sum: 55.0735, score_diff: 0.8874, il_win: 28.9000, rl_win: 18.6000
2025-09-24 02:17:34,120 - mmdet - INFO - Epoch [3][1060/3517]	lr: 4.915e-05, eta: 17:01:23, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2637, debug_std_frame_0: 0.4779, debug_std_frame_1: 0.4947, debug_std_frame_2: 0.5198, debug_std_frame_3: 0.5556, debug_std_frame_4: 0.5999, debug_std_frame_5: 0.6321, loss_rl: -0.2076, loss_critic: 1.3081, loss_rl_bc: 0.0319, il_score: 0.5755, rl_score: 0.5929, prev_frame_loss_waypoint_0: 0.2614, prev_frame_loss_rl_bc_0: 0.0356, loss: 1.7012, grad_norm: 72.4097, il_score_sum: 55.9610, rl_score_sum: 55.0735, score_diff: 0.8874, il_win: 28.9000, rl_win: 18.6000
2025-09-24 02:17:50,169 - mmdet - INFO - Epoch [3][1080/3517]	lr: 4.915e-05, eta: 17:01:07, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2808, debug_std_frame_0: 0.4161, debug_std_frame_1: 0.4354, debug_std_frame_2: 0.4635, debug_std_frame_3: 0.4981, debug_std_frame_4: 0.5448, debug_std_frame_5: 0.5817, loss_rl: -0.1839, loss_critic: 1.5145, loss_rl_bc: 0.0354, il_score: 0.5406, rl_score: 0.5638, prev_frame_loss_waypoint_0: 0.3073, prev_frame_loss_rl_bc_0: 0.0382, loss: 2.0004, grad_norm: 89.8186, il_score_sum: 55.9137, rl_score_sum: 55.0317, score_diff: 0.8819, il_win: 29.1818, rl_win: 18.7273
2025-09-24 02:18:06,266 - mmdet - INFO - Epoch [3][1100/3517]	lr: 4.915e-05, eta: 17:00:51, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2235, debug_std_frame_0: 0.3660, debug_std_frame_1: 0.3836, debug_std_frame_2: 0.4116, debug_std_frame_3: 0.4403, debug_std_frame_4: 0.4869, debug_std_frame_5: 0.5269, loss_rl: -0.1673, loss_critic: 1.4234, loss_rl_bc: 0.0261, il_score: 0.6090, rl_score: 0.6126, prev_frame_loss_waypoint_0: 0.2291, prev_frame_loss_rl_bc_0: 0.0303, loss: 1.7734, grad_norm: 70.4790, il_score_sum: 55.9137, rl_score_sum: 55.0317, score_diff: 0.8819, il_win: 29.1818, rl_win: 18.7273
2025-09-24 02:18:22,284 - mmdet - INFO - Epoch [3][1120/3517]	lr: 4.915e-05, eta: 17:00:35, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2527, debug_std_frame_0: 0.3688, debug_std_frame_1: 0.3916, debug_std_frame_2: 0.4309, debug_std_frame_3: 0.4690, debug_std_frame_4: 0.5230, debug_std_frame_5: 0.5672, loss_rl: -0.2138, loss_critic: 1.3519, loss_rl_bc: 0.0219, il_score: 0.5598, rl_score: 0.6037, prev_frame_loss_waypoint_0: 0.2644, prev_frame_loss_rl_bc_0: 0.0268, loss: 1.7119, grad_norm: 74.1892, il_score_sum: 55.9137, rl_score_sum: 55.0317, score_diff: 0.8819, il_win: 29.1818, rl_win: 18.7273
2025-09-24 02:18:38,289 - mmdet - INFO - Epoch [3][1140/3517]	lr: 4.915e-05, eta: 17:00:18, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2293, debug_std_frame_0: 0.3565, debug_std_frame_1: 0.3770, debug_std_frame_2: 0.4208, debug_std_frame_3: 0.4569, debug_std_frame_4: 0.5083, debug_std_frame_5: 0.5552, loss_rl: -0.1975, loss_critic: 1.4627, loss_rl_bc: 0.0476, il_score: 0.6171, rl_score: 0.5574, prev_frame_loss_waypoint_0: 0.2711, prev_frame_loss_rl_bc_0: 0.0502, loss: 1.8709, grad_norm: 77.6494, il_score_sum: 55.9137, rl_score_sum: 55.0317, score_diff: 0.8819, il_win: 29.1818, rl_win: 18.7273
2025-09-24 02:18:54,763 - mmdet - INFO - Epoch [3][1160/3517]	lr: 4.915e-05, eta: 17:00:06, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2752, debug_std_frame_0: 0.4861, debug_std_frame_1: 0.5043, debug_std_frame_2: 0.5398, debug_std_frame_3: 0.5732, debug_std_frame_4: 0.6186, debug_std_frame_5: 0.6561, loss_rl: -0.0899, loss_critic: 1.5110, loss_rl_bc: 0.0668, il_score: 0.5517, rl_score: 0.4263, prev_frame_loss_waypoint_0: 0.2974, prev_frame_loss_rl_bc_0: 0.0720, loss: 2.1403, grad_norm: 93.5340, il_score_sum: 55.9137, rl_score_sum: 55.0317, score_diff: 0.8819, il_win: 29.1818, rl_win: 18.7273
2025-09-24 02:19:10,856 - mmdet - INFO - Epoch [3][1180/3517]	lr: 4.915e-05, eta: 16:59:50, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2729, debug_std_frame_0: 0.5562, debug_std_frame_1: 0.5749, debug_std_frame_2: 0.6047, debug_std_frame_3: 0.6399, debug_std_frame_4: 0.6898, debug_std_frame_5: 0.7237, loss_rl: -0.1772, loss_critic: 1.3301, loss_rl_bc: 0.0430, il_score: 0.5220, rl_score: 0.5044, prev_frame_loss_waypoint_0: 0.2745, prev_frame_loss_rl_bc_0: 0.0436, loss: 1.7947, grad_norm: 80.1781, il_score_sum: 56.0497, rl_score_sum: 54.9841, score_diff: 1.0656, il_win: 29.5000, rl_win: 18.8333
2025-09-24 02:19:27,116 - mmdet - INFO - Epoch [3][1200/3517]	lr: 4.915e-05, eta: 16:59:36, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2163, debug_std_frame_0: 0.5084, debug_std_frame_1: 0.5244, debug_std_frame_2: 0.5525, debug_std_frame_3: 0.5841, debug_std_frame_4: 0.6311, debug_std_frame_5: 0.6659, loss_rl: -0.1977, loss_critic: 1.2269, loss_rl_bc: 0.0301, il_score: 0.5965, rl_score: 0.5601, prev_frame_loss_waypoint_0: 0.2510, prev_frame_loss_rl_bc_0: 0.0384, loss: 1.5729, grad_norm: 66.1645, il_score_sum: 56.0497, rl_score_sum: 54.9841, score_diff: 1.0656, il_win: 29.5000, rl_win: 18.8333
2025-09-24 02:19:43,245 - mmdet - INFO - Epoch [3][1220/3517]	lr: 4.915e-05, eta: 16:59:21, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2310, debug_std_frame_0: 0.4718, debug_std_frame_1: 0.4932, debug_std_frame_2: 0.5320, debug_std_frame_3: 0.5663, debug_std_frame_4: 0.6126, debug_std_frame_5: 0.6559, loss_rl: -0.2092, loss_critic: 1.1885, loss_rl_bc: 0.0276, il_score: 0.5844, rl_score: 0.6029, prev_frame_loss_waypoint_0: 0.2858, prev_frame_loss_rl_bc_0: 0.0336, loss: 1.5647, grad_norm: 70.5704, il_score_sum: 56.0497, rl_score_sum: 54.9841, score_diff: 1.0656, il_win: 29.5000, rl_win: 18.8333
2025-09-24 02:19:59,539 - mmdet - INFO - Epoch [3][1240/3517]	lr: 4.915e-05, eta: 16:59:07, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2208, debug_std_frame_0: 0.3537, debug_std_frame_1: 0.3766, debug_std_frame_2: 0.4215, debug_std_frame_3: 0.4665, debug_std_frame_4: 0.5255, debug_std_frame_5: 0.5705, loss_rl: -0.1966, loss_critic: 1.2910, loss_rl_bc: 0.0316, il_score: 0.5998, rl_score: 0.6089, prev_frame_loss_waypoint_0: 0.2373, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.6227, grad_norm: 61.0936, il_score_sum: 56.0497, rl_score_sum: 54.9841, score_diff: 1.0656, il_win: 29.5000, rl_win: 18.8333
2025-09-24 02:20:15,884 - mmdet - INFO - Epoch [3][1260/3517]	lr: 4.915e-05, eta: 16:58:53, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2538, debug_std_frame_0: 0.3452, debug_std_frame_1: 0.3700, debug_std_frame_2: 0.4256, debug_std_frame_3: 0.4852, debug_std_frame_4: 0.5498, debug_std_frame_5: 0.5913, loss_rl: -0.1446, loss_critic: 1.1104, loss_rl_bc: 0.0279, il_score: 0.5910, rl_score: 0.5895, prev_frame_loss_waypoint_0: 0.2640, prev_frame_loss_rl_bc_0: 0.0315, loss: 1.5510, grad_norm: 75.8163, il_score_sum: 56.0497, rl_score_sum: 54.9841, score_diff: 1.0656, il_win: 29.5000, rl_win: 18.8333
2025-09-24 02:20:32,359 - mmdet - INFO - Epoch [3][1280/3517]	lr: 4.915e-05, eta: 16:58:41, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2838, debug_std_frame_0: 0.3717, debug_std_frame_1: 0.3997, debug_std_frame_2: 0.4457, debug_std_frame_3: 0.4921, debug_std_frame_4: 0.5491, debug_std_frame_5: 0.5896, loss_rl: -0.1285, loss_critic: 1.2648, loss_rl_bc: 0.0489, il_score: 0.5358, rl_score: 0.5073, prev_frame_loss_waypoint_0: 0.3070, prev_frame_loss_rl_bc_0: 0.0498, loss: 1.8332, grad_norm: 94.9622, il_score_sum: 56.2419, rl_score_sum: 55.2356, score_diff: 1.0063, il_win: 29.7692, rl_win: 18.9231
2025-09-24 02:20:48,732 - mmdet - INFO - Epoch [3][1300/3517]	lr: 4.915e-05, eta: 16:58:28, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2415, debug_std_frame_0: 0.4291, debug_std_frame_1: 0.4589, debug_std_frame_2: 0.4952, debug_std_frame_3: 0.5409, debug_std_frame_4: 0.5908, debug_std_frame_5: 0.6267, loss_rl: -0.1572, loss_critic: 1.3168, loss_rl_bc: 0.0327, il_score: 0.5676, rl_score: 0.5545, prev_frame_loss_waypoint_0: 0.2864, prev_frame_loss_rl_bc_0: 0.0391, loss: 1.7665, grad_norm: 77.0667, il_score_sum: 56.2419, rl_score_sum: 55.2356, score_diff: 1.0063, il_win: 29.7692, rl_win: 18.9231
2025-09-24 02:21:04,933 - mmdet - INFO - Epoch [3][1320/3517]	lr: 4.915e-05, eta: 16:58:13, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2359, debug_std_frame_0: 0.4109, debug_std_frame_1: 0.4368, debug_std_frame_2: 0.4700, debug_std_frame_3: 0.5141, debug_std_frame_4: 0.5690, debug_std_frame_5: 0.6123, loss_rl: -0.2185, loss_critic: 1.4923, loss_rl_bc: 0.0327, il_score: 0.5562, rl_score: 0.5760, prev_frame_loss_waypoint_0: 0.2357, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.8215, grad_norm: 54.3389, il_score_sum: 56.2419, rl_score_sum: 55.2356, score_diff: 1.0063, il_win: 29.7692, rl_win: 18.9231
2025-09-24 02:21:21,147 - mmdet - INFO - Epoch [3][1340/3517]	lr: 4.915e-05, eta: 16:57:58, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2116, debug_std_frame_0: 0.3593, debug_std_frame_1: 0.3901, debug_std_frame_2: 0.4362, debug_std_frame_3: 0.4944, debug_std_frame_4: 0.5535, debug_std_frame_5: 0.5952, loss_rl: -0.1736, loss_critic: 1.2055, loss_rl_bc: 0.0279, il_score: 0.6206, rl_score: 0.5750, prev_frame_loss_waypoint_0: 0.2377, prev_frame_loss_rl_bc_0: 0.0313, loss: 1.5477, grad_norm: 53.2390, il_score_sum: 56.2419, rl_score_sum: 55.2356, score_diff: 1.0063, il_win: 29.7692, rl_win: 18.9231
2025-09-24 02:21:37,218 - mmdet - INFO - Epoch [3][1360/3517]	lr: 4.915e-05, eta: 16:57:42, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2477, debug_std_frame_0: 0.3496, debug_std_frame_1: 0.3811, debug_std_frame_2: 0.4347, debug_std_frame_3: 0.5011, debug_std_frame_4: 0.5673, debug_std_frame_5: 0.6148, loss_rl: -0.1577, loss_critic: 1.1834, loss_rl_bc: 0.0315, il_score: 0.5772, rl_score: 0.5521, prev_frame_loss_waypoint_0: 0.2793, prev_frame_loss_rl_bc_0: 0.0363, loss: 1.6280, grad_norm: 69.9205, il_score_sum: 56.2419, rl_score_sum: 55.2356, score_diff: 1.0063, il_win: 29.7692, rl_win: 18.9231
2025-09-24 02:21:53,492 - mmdet - INFO - Epoch [3][1380/3517]	lr: 4.915e-05, eta: 16:57:28, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2367, debug_std_frame_0: 0.3789, debug_std_frame_1: 0.4115, debug_std_frame_2: 0.4576, debug_std_frame_3: 0.5168, debug_std_frame_4: 0.5784, debug_std_frame_5: 0.6244, loss_rl: -0.1924, loss_critic: 1.4878, loss_rl_bc: 0.0314, il_score: 0.5690, rl_score: 0.5864, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.8566, grad_norm: 67.5135, il_score_sum: 56.2655, rl_score_sum: 55.2036, score_diff: 1.0619, il_win: 30.0714, rl_win: 19.0000
2025-09-24 02:22:09,961 - mmdet - INFO - Epoch [3][1400/3517]	lr: 4.915e-05, eta: 16:57:15, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2238, debug_std_frame_0: 0.3397, debug_std_frame_1: 0.3673, debug_std_frame_2: 0.4111, debug_std_frame_3: 0.4643, debug_std_frame_4: 0.5252, debug_std_frame_5: 0.5718, loss_rl: -0.1870, loss_critic: 1.6953, loss_rl_bc: 0.0323, il_score: 0.6078, rl_score: 0.5890, prev_frame_loss_waypoint_0: 0.2410, prev_frame_loss_rl_bc_0: 0.0404, loss: 2.0535, grad_norm: 76.2429, il_score_sum: 56.2655, rl_score_sum: 55.2036, score_diff: 1.0619, il_win: 30.0714, rl_win: 19.0000
2025-09-24 02:22:26,070 - mmdet - INFO - Epoch [3][1420/3517]	lr: 4.915e-05, eta: 16:57:00, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2151, debug_std_frame_0: 0.3723, debug_std_frame_1: 0.3995, debug_std_frame_2: 0.4368, debug_std_frame_3: 0.4858, debug_std_frame_4: 0.5421, debug_std_frame_5: 0.5886, loss_rl: -0.1473, loss_critic: 1.2744, loss_rl_bc: 0.0337, il_score: 0.5825, rl_score: 0.5408, prev_frame_loss_waypoint_0: 0.2618, prev_frame_loss_rl_bc_0: 0.0401, loss: 1.6859, grad_norm: 82.8270, il_score_sum: 56.2655, rl_score_sum: 55.2036, score_diff: 1.0619, il_win: 30.0714, rl_win: 19.0000
2025-09-24 02:22:42,246 - mmdet - INFO - Epoch [3][1440/3517]	lr: 4.915e-05, eta: 16:56:45, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2214, debug_std_frame_0: 0.4011, debug_std_frame_1: 0.4283, debug_std_frame_2: 0.4630, debug_std_frame_3: 0.5096, debug_std_frame_4: 0.5620, debug_std_frame_5: 0.6044, loss_rl: -0.1601, loss_critic: 1.1486, loss_rl_bc: 0.0308, il_score: 0.5804, rl_score: 0.5688, prev_frame_loss_waypoint_0: 0.2577, prev_frame_loss_rl_bc_0: 0.0344, loss: 1.5402, grad_norm: 78.2498, il_score_sum: 56.2655, rl_score_sum: 55.2036, score_diff: 1.0619, il_win: 30.0714, rl_win: 19.0000
2025-09-24 02:22:58,293 - mmdet - INFO - Epoch [3][1460/3517]	lr: 4.915e-05, eta: 16:56:28, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2086, debug_std_frame_0: 0.3656, debug_std_frame_1: 0.3891, debug_std_frame_2: 0.4200, debug_std_frame_3: 0.4607, debug_std_frame_4: 0.5096, debug_std_frame_5: 0.5556, loss_rl: -0.2302, loss_critic: 1.4803, loss_rl_bc: 0.0238, il_score: 0.5810, rl_score: 0.5688, prev_frame_loss_waypoint_0: 0.2200, prev_frame_loss_rl_bc_0: 0.0210, loss: 1.7307, grad_norm: 52.4726, il_score_sum: 56.2655, rl_score_sum: 55.2036, score_diff: 1.0619, il_win: 30.0714, rl_win: 19.0000
2025-09-24 02:23:14,347 - mmdet - INFO - Epoch [3][1480/3517]	lr: 4.915e-05, eta: 16:56:12, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2392, debug_std_frame_0: 0.3482, debug_std_frame_1: 0.3740, debug_std_frame_2: 0.4110, debug_std_frame_3: 0.4516, debug_std_frame_4: 0.5059, debug_std_frame_5: 0.5570, loss_rl: -0.1808, loss_critic: 1.3910, loss_rl_bc: 0.0284, il_score: 0.5978, rl_score: 0.6092, prev_frame_loss_waypoint_0: 0.2676, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.7840, grad_norm: 81.6696, il_score_sum: 56.4062, rl_score_sum: 55.3627, score_diff: 1.0435, il_win: 30.3333, rl_win: 19.0667
2025-09-24 02:23:30,409 - mmdet - INFO - Epoch [3][1500/3517]	lr: 4.915e-05, eta: 16:55:56, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2754, debug_std_frame_0: 0.3658, debug_std_frame_1: 0.3960, debug_std_frame_2: 0.4379, debug_std_frame_3: 0.4799, debug_std_frame_4: 0.5305, debug_std_frame_5: 0.5777, loss_rl: -0.1292, loss_critic: 1.5271, loss_rl_bc: 0.0488, il_score: 0.5547, rl_score: 0.5230, prev_frame_loss_waypoint_0: 0.3129, prev_frame_loss_rl_bc_0: 0.0526, loss: 2.0953, grad_norm: 93.0501, il_score_sum: 56.4062, rl_score_sum: 55.3627, score_diff: 1.0435, il_win: 30.3333, rl_win: 19.0667
2025-09-24 02:23:46,639 - mmdet - INFO - Epoch [3][1520/3517]	lr: 4.915e-05, eta: 16:55:41, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.3008, debug_std_frame_0: 0.4107, debug_std_frame_1: 0.4416, debug_std_frame_2: 0.4883, debug_std_frame_3: 0.5459, debug_std_frame_4: 0.6015, debug_std_frame_5: 0.6437, loss_rl: -0.1869, loss_critic: 1.3337, loss_rl_bc: 0.0312, il_score: 0.5333, rl_score: 0.5940, prev_frame_loss_waypoint_0: 0.3244, prev_frame_loss_rl_bc_0: 0.0384, loss: 1.8495, grad_norm: 103.6648, il_score_sum: 56.4062, rl_score_sum: 55.3627, score_diff: 1.0435, il_win: 30.3333, rl_win: 19.0667
2025-09-24 02:24:02,786 - mmdet - INFO - Epoch [3][1540/3517]	lr: 4.915e-05, eta: 16:55:26, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0070, loss_waypoint: 0.3585, debug_std_frame_0: 0.4124, debug_std_frame_1: 0.4431, debug_std_frame_2: 0.4914, debug_std_frame_3: 0.5481, debug_std_frame_4: 0.6016, debug_std_frame_5: 0.6461, loss_rl: -0.2126, loss_critic: 1.3784, loss_rl_bc: 0.0247, il_score: 0.4680, rl_score: 0.6065, prev_frame_loss_waypoint_0: 0.4169, prev_frame_loss_rl_bc_0: 0.0316, loss: 2.0045, grad_norm: 119.5166, il_score_sum: 56.4062, rl_score_sum: 55.3627, score_diff: 1.0435, il_win: 30.3333, rl_win: 19.0667
2025-09-24 02:24:18,726 - mmdet - INFO - Epoch [3][1560/3517]	lr: 4.915e-05, eta: 16:55:09, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2868, debug_std_frame_0: 0.3292, debug_std_frame_1: 0.3570, debug_std_frame_2: 0.4033, debug_std_frame_3: 0.4581, debug_std_frame_4: 0.5189, debug_std_frame_5: 0.5665, loss_rl: -0.1738, loss_critic: 1.0706, loss_rl_bc: 0.0222, il_score: 0.5294, rl_score: 0.6091, prev_frame_loss_waypoint_0: 0.3017, prev_frame_loss_rl_bc_0: 0.0295, loss: 1.5446, grad_norm: 85.7296, il_score_sum: 56.4062, rl_score_sum: 55.3627, score_diff: 1.0435, il_win: 30.3333, rl_win: 19.0667
2025-09-24 02:24:34,855 - mmdet - INFO - Epoch [3][1580/3517]	lr: 4.915e-05, eta: 16:54:53, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2840, debug_std_frame_0: 0.3253, debug_std_frame_1: 0.3581, debug_std_frame_2: 0.4122, debug_std_frame_3: 0.4744, debug_std_frame_4: 0.5373, debug_std_frame_5: 0.5848, loss_rl: -0.1420, loss_critic: 1.3768, loss_rl_bc: 0.0296, il_score: 0.5420, rl_score: 0.5789, prev_frame_loss_waypoint_0: 0.3106, prev_frame_loss_rl_bc_0: 0.0304, loss: 1.8977, grad_norm: 82.9779, il_score_sum: 56.2392, rl_score_sum: 55.5729, score_diff: 0.6663, il_win: 30.5625, rl_win: 19.1875
2025-09-24 02:24:51,026 - mmdet - INFO - Epoch [3][1600/3517]	lr: 4.915e-05, eta: 16:54:38, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2802, debug_std_frame_0: 0.3321, debug_std_frame_1: 0.3598, debug_std_frame_2: 0.4042, debug_std_frame_3: 0.4609, debug_std_frame_4: 0.5253, debug_std_frame_5: 0.5772, loss_rl: -0.1355, loss_critic: 1.3206, loss_rl_bc: 0.0388, il_score: 0.5711, rl_score: 0.5611, prev_frame_loss_waypoint_0: 0.2711, prev_frame_loss_rl_bc_0: 0.0317, loss: 1.8148, grad_norm: 92.4479, il_score_sum: 56.2392, rl_score_sum: 55.5729, score_diff: 0.6663, il_win: 30.5625, rl_win: 19.1875
2025-09-24 02:25:07,104 - mmdet - INFO - Epoch [3][1620/3517]	lr: 4.915e-05, eta: 16:54:22, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2288, debug_std_frame_0: 0.3242, debug_std_frame_1: 0.3521, debug_std_frame_2: 0.3970, debug_std_frame_3: 0.4522, debug_std_frame_4: 0.5171, debug_std_frame_5: 0.5722, loss_rl: -0.2235, loss_critic: 1.4666, loss_rl_bc: 0.0213, il_score: 0.5910, rl_score: 0.6359, prev_frame_loss_waypoint_0: 0.2554, prev_frame_loss_rl_bc_0: 0.0273, loss: 1.7839, grad_norm: 70.9003, il_score_sum: 56.2392, rl_score_sum: 55.5729, score_diff: 0.6663, il_win: 30.5625, rl_win: 19.1875
2025-09-24 02:25:23,099 - mmdet - INFO - Epoch [3][1640/3517]	lr: 4.915e-05, eta: 16:54:05, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2230, debug_std_frame_0: 0.3133, debug_std_frame_1: 0.3433, debug_std_frame_2: 0.3868, debug_std_frame_3: 0.4373, debug_std_frame_4: 0.4973, debug_std_frame_5: 0.5521, loss_rl: -0.1771, loss_critic: 1.3340, loss_rl_bc: 0.0277, il_score: 0.6068, rl_score: 0.5956, prev_frame_loss_waypoint_0: 0.2422, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.6894, grad_norm: 69.7998, il_score_sum: 56.2392, rl_score_sum: 55.5729, score_diff: 0.6663, il_win: 30.5625, rl_win: 19.1875
2025-09-24 02:25:39,060 - mmdet - INFO - Epoch [3][1660/3517]	lr: 4.915e-05, eta: 16:53:48, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2326, debug_std_frame_0: 0.3406, debug_std_frame_1: 0.3736, debug_std_frame_2: 0.4134, debug_std_frame_3: 0.4638, debug_std_frame_4: 0.5182, debug_std_frame_5: 0.5755, loss_rl: -0.1766, loss_critic: 1.5385, loss_rl_bc: 0.0350, il_score: 0.5837, rl_score: 0.5650, prev_frame_loss_waypoint_0: 0.2442, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.9166, grad_norm: 72.2221, il_score_sum: 56.2392, rl_score_sum: 55.5729, score_diff: 0.6663, il_win: 30.5625, rl_win: 19.1875
2025-09-24 02:25:55,536 - mmdet - INFO - Epoch [3][1680/3517]	lr: 4.915e-05, eta: 16:53:36, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2891, debug_std_frame_0: 0.3945, debug_std_frame_1: 0.4224, debug_std_frame_2: 0.4556, debug_std_frame_3: 0.4974, debug_std_frame_4: 0.5463, debug_std_frame_5: 0.5966, loss_rl: -0.1942, loss_critic: 1.2818, loss_rl_bc: 0.0287, il_score: 0.5290, rl_score: 0.5922, prev_frame_loss_waypoint_0: 0.3132, prev_frame_loss_rl_bc_0: 0.0325, loss: 1.7591, grad_norm: 86.6380, il_score_sum: 56.3158, rl_score_sum: 55.7276, score_diff: 0.5881, il_win: 30.7647, rl_win: 19.2941
2025-09-24 02:26:11,656 - mmdet - INFO - Epoch [3][1700/3517]	lr: 4.915e-05, eta: 16:53:20, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.4580, debug_std_frame_0: 0.4378, debug_std_frame_1: 0.4609, debug_std_frame_2: 0.4899, debug_std_frame_3: 0.5262, debug_std_frame_4: 0.5689, debug_std_frame_5: 0.6174, loss_rl: -0.1586, loss_critic: 1.1504, loss_rl_bc: 0.0374, il_score: 0.4651, rl_score: 0.5594, prev_frame_loss_waypoint_0: 0.5093, prev_frame_loss_rl_bc_0: 0.0461, loss: 2.0507, grad_norm: 137.2471, il_score_sum: 56.3158, rl_score_sum: 55.7276, score_diff: 0.5881, il_win: 30.7647, rl_win: 19.2941
2025-09-24 02:26:27,537 - mmdet - INFO - Epoch [3][1720/3517]	lr: 4.915e-05, eta: 16:53:03, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.3242, debug_std_frame_0: 0.4038, debug_std_frame_1: 0.4340, debug_std_frame_2: 0.4669, debug_std_frame_3: 0.5106, debug_std_frame_4: 0.5606, debug_std_frame_5: 0.6059, loss_rl: -0.1936, loss_critic: 1.1884, loss_rl_bc: 0.0276, il_score: 0.4831, rl_score: 0.5655, prev_frame_loss_waypoint_0: 0.3347, prev_frame_loss_rl_bc_0: 0.0296, loss: 1.7186, grad_norm: 77.8749, il_score_sum: 56.3158, rl_score_sum: 55.7276, score_diff: 0.5881, il_win: 30.7647, rl_win: 19.2941
2025-09-24 02:26:43,436 - mmdet - INFO - Epoch [3][1740/3517]	lr: 4.915e-05, eta: 16:52:45, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2690, debug_std_frame_0: 0.3758, debug_std_frame_1: 0.4053, debug_std_frame_2: 0.4438, debug_std_frame_3: 0.4897, debug_std_frame_4: 0.5438, debug_std_frame_5: 0.5953, loss_rl: -0.2069, loss_critic: 1.3074, loss_rl_bc: 0.0340, il_score: 0.5467, rl_score: 0.5510, prev_frame_loss_waypoint_0: 0.2889, prev_frame_loss_rl_bc_0: 0.0422, loss: 1.7440, grad_norm: 65.1425, il_score_sum: 56.3158, rl_score_sum: 55.7276, score_diff: 0.5881, il_win: 30.7647, rl_win: 19.2941
2025-09-24 02:26:59,279 - mmdet - INFO - Epoch [3][1760/3517]	lr: 4.915e-05, eta: 16:52:27, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2442, debug_std_frame_0: 0.3881, debug_std_frame_1: 0.4228, debug_std_frame_2: 0.4638, debug_std_frame_3: 0.5115, debug_std_frame_4: 0.5684, debug_std_frame_5: 0.6198, loss_rl: -0.1987, loss_critic: 1.1296, loss_rl_bc: 0.0280, il_score: 0.5946, rl_score: 0.5957, prev_frame_loss_waypoint_0: 0.2649, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.5078, grad_norm: 75.9380, il_score_sum: 56.3158, rl_score_sum: 55.7276, score_diff: 0.5881, il_win: 30.7647, rl_win: 19.2941
2025-09-24 02:27:15,387 - mmdet - INFO - Epoch [3][1780/3517]	lr: 4.915e-05, eta: 16:52:11, time: 0.806, data_time: 0.014, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2450, debug_std_frame_0: 0.3345, debug_std_frame_1: 0.3690, debug_std_frame_2: 0.4144, debug_std_frame_3: 0.4644, debug_std_frame_4: 0.5235, debug_std_frame_5: 0.5738, loss_rl: -0.1901, loss_critic: 1.4840, loss_rl_bc: 0.0276, il_score: 0.5998, rl_score: 0.6112, prev_frame_loss_waypoint_0: 0.2637, prev_frame_loss_rl_bc_0: 0.0372, loss: 1.8760, grad_norm: 77.4420, il_score_sum: 56.1261, rl_score_sum: 55.8540, score_diff: 0.2720, il_win: 30.9444, rl_win: 19.4444
2025-09-24 02:27:31,208 - mmdet - INFO - Epoch [3][1800/3517]	lr: 4.915e-05, eta: 16:51:53, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2522, debug_std_frame_0: 0.3527, debug_std_frame_1: 0.3925, debug_std_frame_2: 0.4446, debug_std_frame_3: 0.4980, debug_std_frame_4: 0.5615, debug_std_frame_5: 0.6090, loss_rl: -0.1098, loss_critic: 1.4075, loss_rl_bc: 0.0426, il_score: 0.5620, rl_score: 0.5379, prev_frame_loss_waypoint_0: 0.2640, prev_frame_loss_rl_bc_0: 0.0472, loss: 1.9124, grad_norm: 70.5433, il_score_sum: 56.1261, rl_score_sum: 55.8540, score_diff: 0.2720, il_win: 30.9444, rl_win: 19.4444
2025-09-24 02:27:47,141 - mmdet - INFO - Epoch [3][1820/3517]	lr: 4.915e-05, eta: 16:51:36, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2530, debug_std_frame_0: 0.3909, debug_std_frame_1: 0.4332, debug_std_frame_2: 0.4939, debug_std_frame_3: 0.5476, debug_std_frame_4: 0.6048, debug_std_frame_5: 0.6469, loss_rl: -0.1980, loss_critic: 1.3373, loss_rl_bc: 0.0319, il_score: 0.5816, rl_score: 0.5756, prev_frame_loss_waypoint_0: 0.2789, prev_frame_loss_rl_bc_0: 0.0334, loss: 1.7453, grad_norm: 74.1558, il_score_sum: 56.1261, rl_score_sum: 55.8540, score_diff: 0.2720, il_win: 30.9444, rl_win: 19.4444
2025-09-24 02:28:03,564 - mmdet - INFO - Epoch [3][1840/3517]	lr: 4.915e-05, eta: 16:51:23, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2512, debug_std_frame_0: 0.3655, debug_std_frame_1: 0.4064, debug_std_frame_2: 0.4654, debug_std_frame_3: 0.5221, debug_std_frame_4: 0.5864, debug_std_frame_5: 0.6313, loss_rl: -0.1936, loss_critic: 1.1581, loss_rl_bc: 0.0301, il_score: 0.5799, rl_score: 0.5865, prev_frame_loss_waypoint_0: 0.2845, prev_frame_loss_rl_bc_0: 0.0313, loss: 1.5697, grad_norm: 74.5308, il_score_sum: 56.1261, rl_score_sum: 55.8540, score_diff: 0.2720, il_win: 30.9444, rl_win: 19.4444
2025-09-24 02:28:19,524 - mmdet - INFO - Epoch [3][1860/3517]	lr: 4.915e-05, eta: 16:51:06, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2737, debug_std_frame_0: 0.3266, debug_std_frame_1: 0.3629, debug_std_frame_2: 0.4183, debug_std_frame_3: 0.4777, debug_std_frame_4: 0.5483, debug_std_frame_5: 0.5971, loss_rl: -0.1356, loss_critic: 1.0571, loss_rl_bc: 0.0296, il_score: 0.5708, rl_score: 0.5689, prev_frame_loss_waypoint_0: 0.2970, prev_frame_loss_rl_bc_0: 0.0343, loss: 1.5646, grad_norm: 82.1885, il_score_sum: 56.1261, rl_score_sum: 55.8540, score_diff: 0.2720, il_win: 30.9444, rl_win: 19.4444
2025-09-24 02:28:35,489 - mmdet - INFO - Epoch [3][1880/3517]	lr: 4.915e-05, eta: 16:50:49, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2172, debug_std_frame_0: 0.3120, debug_std_frame_1: 0.3465, debug_std_frame_2: 0.4047, debug_std_frame_3: 0.4640, debug_std_frame_4: 0.5382, debug_std_frame_5: 0.5889, loss_rl: -0.1540, loss_critic: 1.2488, loss_rl_bc: 0.0344, il_score: 0.5974, rl_score: 0.5737, prev_frame_loss_waypoint_0: 0.2454, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.6349, grad_norm: 80.1287, il_score_sum: 56.2236, rl_score_sum: 55.9317, score_diff: 0.2919, il_win: 31.1053, rl_win: 19.5789
2025-09-24 02:28:51,532 - mmdet - INFO - Epoch [3][1900/3517]	lr: 4.915e-05, eta: 16:50:33, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2429, debug_std_frame_0: 0.3563, debug_std_frame_1: 0.3903, debug_std_frame_2: 0.4409, debug_std_frame_3: 0.4917, debug_std_frame_4: 0.5588, debug_std_frame_5: 0.6052, loss_rl: -0.1648, loss_critic: 1.0806, loss_rl_bc: 0.0253, il_score: 0.6038, rl_score: 0.6152, prev_frame_loss_waypoint_0: 0.2571, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.4767, grad_norm: 100.9780, il_score_sum: 56.2236, rl_score_sum: 55.9317, score_diff: 0.2919, il_win: 31.1053, rl_win: 19.5789
2025-09-24 02:29:07,480 - mmdet - INFO - Epoch [3][1920/3517]	lr: 4.915e-05, eta: 16:50:16, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2085, debug_std_frame_0: 0.3181, debug_std_frame_1: 0.3517, debug_std_frame_2: 0.4042, debug_std_frame_3: 0.4508, debug_std_frame_4: 0.5190, debug_std_frame_5: 0.5699, loss_rl: -0.1785, loss_critic: 1.3097, loss_rl_bc: 0.0248, il_score: 0.6504, rl_score: 0.6079, prev_frame_loss_waypoint_0: 0.2461, prev_frame_loss_rl_bc_0: 0.0261, loss: 1.6440, grad_norm: 58.3048, il_score_sum: 56.2236, rl_score_sum: 55.9317, score_diff: 0.2919, il_win: 31.1053, rl_win: 19.5789
2025-09-24 02:29:23,352 - mmdet - INFO - Epoch [3][1940/3517]	lr: 4.915e-05, eta: 16:49:58, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2136, debug_std_frame_0: 0.2995, debug_std_frame_1: 0.3350, debug_std_frame_2: 0.3892, debug_std_frame_3: 0.4372, debug_std_frame_4: 0.5083, debug_std_frame_5: 0.5612, loss_rl: -0.1398, loss_critic: 1.3158, loss_rl_bc: 0.0252, il_score: 0.5950, rl_score: 0.5923, prev_frame_loss_waypoint_0: 0.2260, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.6755, grad_norm: 73.6646, il_score_sum: 56.2236, rl_score_sum: 55.9317, score_diff: 0.2919, il_win: 31.1053, rl_win: 19.5789
2025-09-24 02:29:39,178 - mmdet - INFO - Epoch [3][1960/3517]	lr: 4.915e-05, eta: 16:49:40, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2672, debug_std_frame_0: 0.3887, debug_std_frame_1: 0.4169, debug_std_frame_2: 0.4509, debug_std_frame_3: 0.4872, debug_std_frame_4: 0.5397, debug_std_frame_5: 0.5851, loss_rl: -0.1418, loss_critic: 1.1827, loss_rl_bc: 0.0543, il_score: 0.5664, rl_score: 0.5068, prev_frame_loss_waypoint_0: 0.2785, prev_frame_loss_rl_bc_0: 0.0562, loss: 1.7047, grad_norm: 93.1644, il_score_sum: 56.2236, rl_score_sum: 55.9317, score_diff: 0.2919, il_win: 31.1053, rl_win: 19.5789
2025-09-24 02:29:55,115 - mmdet - INFO - Epoch [3][1980/3517]	lr: 4.915e-05, eta: 16:49:23, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.3266, debug_std_frame_0: 0.4653, debug_std_frame_1: 0.4898, debug_std_frame_2: 0.5179, debug_std_frame_3: 0.5503, debug_std_frame_4: 0.5918, debug_std_frame_5: 0.6287, loss_rl: -0.1255, loss_critic: 1.1995, loss_rl_bc: 0.0375, il_score: 0.4906, rl_score: 0.5258, prev_frame_loss_waypoint_0: 0.3579, prev_frame_loss_rl_bc_0: 0.0451, loss: 1.8487, grad_norm: 94.3712, il_score_sum: 56.4022, rl_score_sum: 56.0253, score_diff: 0.3769, il_win: 31.3000, rl_win: 19.7000
2025-09-24 02:30:11,096 - mmdet - INFO - Epoch [3][2000/3517]	lr: 4.915e-05, eta: 16:49:06, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.3127, debug_std_frame_0: 0.4734, debug_std_frame_1: 0.4970, debug_std_frame_2: 0.5305, debug_std_frame_3: 0.5649, debug_std_frame_4: 0.6081, debug_std_frame_5: 0.6449, loss_rl: -0.1518, loss_critic: 1.3122, loss_rl_bc: 0.0403, il_score: 0.5062, rl_score: 0.5266, prev_frame_loss_waypoint_0: 0.3259, prev_frame_loss_rl_bc_0: 0.0425, loss: 1.8900, grad_norm: 86.3904, il_score_sum: 56.4022, rl_score_sum: 56.0253, score_diff: 0.3769, il_win: 31.3000, rl_win: 19.7000
2025-09-24 02:30:27,166 - mmdet - INFO - Epoch [3][2020/3517]	lr: 4.915e-05, eta: 16:48:50, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.3272, debug_std_frame_0: 0.4987, debug_std_frame_1: 0.5249, debug_std_frame_2: 0.5619, debug_std_frame_3: 0.6034, debug_std_frame_4: 0.6550, debug_std_frame_5: 0.6935, loss_rl: -0.1473, loss_critic: 1.2290, loss_rl_bc: 0.0364, il_score: 0.5179, rl_score: 0.5683, prev_frame_loss_waypoint_0: 0.3630, prev_frame_loss_rl_bc_0: 0.0437, loss: 1.8602, grad_norm: 74.2128, il_score_sum: 56.4022, rl_score_sum: 56.0253, score_diff: 0.3769, il_win: 31.3000, rl_win: 19.7000
2025-09-24 02:30:42,925 - mmdet - INFO - Epoch [3][2040/3517]	lr: 4.915e-05, eta: 16:48:31, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2458, debug_std_frame_0: 0.4564, debug_std_frame_1: 0.4833, debug_std_frame_2: 0.5167, debug_std_frame_3: 0.5524, debug_std_frame_4: 0.5966, debug_std_frame_5: 0.6337, loss_rl: -0.1979, loss_critic: 1.3615, loss_rl_bc: 0.0304, il_score: 0.5851, rl_score: 0.5691, prev_frame_loss_waypoint_0: 0.2661, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.7469, grad_norm: 70.0161, il_score_sum: 56.4022, rl_score_sum: 56.0253, score_diff: 0.3769, il_win: 31.3000, rl_win: 19.7000
2025-09-24 02:30:58,986 - mmdet - INFO - Epoch [3][2060/3517]	lr: 4.915e-05, eta: 16:48:15, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2425, debug_std_frame_0: 0.3811, debug_std_frame_1: 0.4121, debug_std_frame_2: 0.4549, debug_std_frame_3: 0.4976, debug_std_frame_4: 0.5466, debug_std_frame_5: 0.5861, loss_rl: -0.2000, loss_critic: 1.2960, loss_rl_bc: 0.0262, il_score: 0.5634, rl_score: 0.5802, prev_frame_loss_waypoint_0: 0.2678, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.6703, grad_norm: 81.4930, il_score_sum: 56.4022, rl_score_sum: 56.0253, score_diff: 0.3769, il_win: 31.3000, rl_win: 19.7000
2025-09-24 02:31:15,360 - mmdet - INFO - Epoch [3][2080/3517]	lr: 4.915e-05, eta: 16:48:02, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2593, debug_std_frame_0: 0.3820, debug_std_frame_1: 0.4153, debug_std_frame_2: 0.4588, debug_std_frame_3: 0.5061, debug_std_frame_4: 0.5616, debug_std_frame_5: 0.6012, loss_rl: -0.1624, loss_critic: 1.3752, loss_rl_bc: 0.0354, il_score: 0.5775, rl_score: 0.5592, prev_frame_loss_waypoint_0: 0.2547, prev_frame_loss_rl_bc_0: 0.0377, loss: 1.8080, grad_norm: 58.8890, il_score_sum: 56.2342, rl_score_sum: 56.1100, score_diff: 0.1242, il_win: 31.7500, rl_win: 20.0000
2025-09-24 02:31:31,469 - mmdet - INFO - Epoch [3][2100/3517]	lr: 4.915e-05, eta: 16:47:46, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2410, debug_std_frame_0: 0.3513, debug_std_frame_1: 0.3850, debug_std_frame_2: 0.4324, debug_std_frame_3: 0.4824, debug_std_frame_4: 0.5498, debug_std_frame_5: 0.5950, loss_rl: -0.2071, loss_critic: 1.2126, loss_rl_bc: 0.0272, il_score: 0.5819, rl_score: 0.6007, prev_frame_loss_waypoint_0: 0.2403, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.5503, grad_norm: 90.1990, il_score_sum: 56.2342, rl_score_sum: 56.1100, score_diff: 0.1242, il_win: 31.7500, rl_win: 20.0000
2025-09-24 02:31:47,402 - mmdet - INFO - Epoch [3][2120/3517]	lr: 4.915e-05, eta: 16:47:29, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2106, debug_std_frame_0: 0.3263, debug_std_frame_1: 0.3562, debug_std_frame_2: 0.4028, debug_std_frame_3: 0.4493, debug_std_frame_4: 0.5202, debug_std_frame_5: 0.5685, loss_rl: -0.2069, loss_critic: 1.4589, loss_rl_bc: 0.0265, il_score: 0.5912, rl_score: 0.5925, prev_frame_loss_waypoint_0: 0.2417, prev_frame_loss_rl_bc_0: 0.0333, loss: 1.7725, grad_norm: 63.0997, il_score_sum: 56.2342, rl_score_sum: 56.1100, score_diff: 0.1242, il_win: 31.7500, rl_win: 20.0000
2025-09-24 02:32:03,497 - mmdet - INFO - Epoch [3][2140/3517]	lr: 4.915e-05, eta: 16:47:13, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2743, debug_std_frame_0: 0.3339, debug_std_frame_1: 0.3683, debug_std_frame_2: 0.4211, debug_std_frame_3: 0.4802, debug_std_frame_4: 0.5651, debug_std_frame_5: 0.6142, loss_rl: -0.1569, loss_critic: 1.0959, loss_rl_bc: 0.0283, il_score: 0.5629, rl_score: 0.5772, prev_frame_loss_waypoint_0: 0.2948, prev_frame_loss_rl_bc_0: 0.0352, loss: 1.5803, grad_norm: 81.0688, il_score_sum: 56.2342, rl_score_sum: 56.1100, score_diff: 0.1242, il_win: 31.7500, rl_win: 20.0000
2025-09-24 02:32:19,515 - mmdet - INFO - Epoch [3][2160/3517]	lr: 4.915e-05, eta: 16:46:56, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2436, debug_std_frame_0: 0.3321, debug_std_frame_1: 0.3665, debug_std_frame_2: 0.4177, debug_std_frame_3: 0.4760, debug_std_frame_4: 0.5547, debug_std_frame_5: 0.5993, loss_rl: -0.1812, loss_critic: 1.2610, loss_rl_bc: 0.0267, il_score: 0.6044, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2450, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.6320, grad_norm: 65.6903, il_score_sum: 56.2342, rl_score_sum: 56.1100, score_diff: 0.1242, il_win: 31.7500, rl_win: 20.0000
2025-09-24 02:32:35,762 - mmdet - INFO - Epoch [3][2180/3517]	lr: 4.915e-05, eta: 16:46:42, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2493, debug_std_frame_0: 0.3041, debug_std_frame_1: 0.3414, debug_std_frame_2: 0.3906, debug_std_frame_3: 0.4467, debug_std_frame_4: 0.5272, debug_std_frame_5: 0.5760, loss_rl: -0.1523, loss_critic: 1.2547, loss_rl_bc: 0.0262, il_score: 0.5741, rl_score: 0.5959, prev_frame_loss_waypoint_0: 0.2592, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.6710, grad_norm: 94.0074, il_score_sum: 56.3942, rl_score_sum: 56.2129, score_diff: 0.1813, il_win: 32.2000, rl_win: 20.2500
2025-09-24 02:32:51,847 - mmdet - INFO - Epoch [3][2200/3517]	lr: 4.915e-05, eta: 16:46:26, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2542, debug_std_frame_0: 0.3053, debug_std_frame_1: 0.3422, debug_std_frame_2: 0.3860, debug_std_frame_3: 0.4447, debug_std_frame_4: 0.5253, debug_std_frame_5: 0.5754, loss_rl: -0.1857, loss_critic: 1.4946, loss_rl_bc: 0.0247, il_score: 0.5831, rl_score: 0.5969, prev_frame_loss_waypoint_0: 0.2667, prev_frame_loss_rl_bc_0: 0.0334, loss: 1.8964, grad_norm: 68.0148, il_score_sum: 56.3942, rl_score_sum: 56.2129, score_diff: 0.1813, il_win: 32.2000, rl_win: 20.2500
2025-09-24 02:33:08,103 - mmdet - INFO - Epoch [3][2220/3517]	lr: 4.915e-05, eta: 16:46:11, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.2582, debug_std_frame_0: 0.3157, debug_std_frame_1: 0.3497, debug_std_frame_2: 0.3930, debug_std_frame_3: 0.4524, debug_std_frame_4: 0.5304, debug_std_frame_5: 0.5828, loss_rl: -0.2044, loss_critic: 1.3489, loss_rl_bc: 0.0258, il_score: 0.5858, rl_score: 0.6040, prev_frame_loss_waypoint_0: 0.2594, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.7247, grad_norm: 70.3530, il_score_sum: 56.3942, rl_score_sum: 56.2129, score_diff: 0.1813, il_win: 32.2000, rl_win: 20.2500
2025-09-24 02:33:24,254 - mmdet - INFO - Epoch [3][2240/3517]	lr: 4.915e-05, eta: 16:45:56, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2549, debug_std_frame_0: 0.2977, debug_std_frame_1: 0.3331, debug_std_frame_2: 0.3839, debug_std_frame_3: 0.4454, debug_std_frame_4: 0.5231, debug_std_frame_5: 0.5783, loss_rl: -0.1666, loss_critic: 1.3592, loss_rl_bc: 0.0251, il_score: 0.5573, rl_score: 0.5941, prev_frame_loss_waypoint_0: 0.3205, prev_frame_loss_rl_bc_0: 0.0291, loss: 1.8301, grad_norm: 76.9566, il_score_sum: 56.3942, rl_score_sum: 56.2129, score_diff: 0.1813, il_win: 32.2000, rl_win: 20.2500
2025-09-24 02:33:40,119 - mmdet - INFO - Epoch [3][2260/3517]	lr: 4.915e-05, eta: 16:45:38, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2599, debug_std_frame_0: 0.2816, debug_std_frame_1: 0.3174, debug_std_frame_2: 0.3744, debug_std_frame_3: 0.4400, debug_std_frame_4: 0.5175, debug_std_frame_5: 0.5729, loss_rl: -0.1966, loss_critic: 1.2648, loss_rl_bc: 0.0193, il_score: 0.5470, rl_score: 0.6108, prev_frame_loss_waypoint_0: 0.2831, prev_frame_loss_rl_bc_0: 0.0232, loss: 1.6614, grad_norm: 92.4668, il_score_sum: 56.3942, rl_score_sum: 56.2129, score_diff: 0.1813, il_win: 32.2000, rl_win: 20.2500
2025-09-24 02:33:56,682 - mmdet - INFO - Epoch [3][2280/3517]	lr: 4.915e-05, eta: 16:45:26, time: 0.828, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2286, debug_std_frame_0: 0.2963, debug_std_frame_1: 0.3259, debug_std_frame_2: 0.3791, debug_std_frame_3: 0.4398, debug_std_frame_4: 0.5126, debug_std_frame_5: 0.5753, loss_rl: -0.1971, loss_critic: 1.3255, loss_rl_bc: 0.0202, il_score: 0.5858, rl_score: 0.6081, prev_frame_loss_waypoint_0: 0.2458, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.6548, grad_norm: 66.6936, il_score_sum: 56.4401, rl_score_sum: 56.5352, score_diff: -0.0951, il_win: 32.6000, rl_win: 20.5500
2025-09-24 02:34:12,683 - mmdet - INFO - Epoch [3][2300/3517]	lr: 4.915e-05, eta: 16:45:10, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2553, debug_std_frame_0: 0.2739, debug_std_frame_1: 0.3025, debug_std_frame_2: 0.3511, debug_std_frame_3: 0.4063, debug_std_frame_4: 0.4744, debug_std_frame_5: 0.5377, loss_rl: -0.1790, loss_critic: 1.4089, loss_rl_bc: 0.0254, il_score: 0.5669, rl_score: 0.5993, prev_frame_loss_waypoint_0: 0.2842, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.8291, grad_norm: 91.8794, il_score_sum: 56.4401, rl_score_sum: 56.5352, score_diff: -0.0951, il_win: 32.6000, rl_win: 20.5500
2025-09-24 02:34:28,645 - mmdet - INFO - Epoch [3][2320/3517]	lr: 4.915e-05, eta: 16:44:53, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.3705, debug_std_frame_0: 0.3244, debug_std_frame_1: 0.3557, debug_std_frame_2: 0.3984, debug_std_frame_3: 0.4513, debug_std_frame_4: 0.5080, debug_std_frame_5: 0.5624, loss_rl: -0.1614, loss_critic: 1.3389, loss_rl_bc: 0.0284, il_score: 0.4610, rl_score: 0.6028, prev_frame_loss_waypoint_0: 0.3909, prev_frame_loss_rl_bc_0: 0.0367, loss: 2.0129, grad_norm: 116.0499, il_score_sum: 56.4401, rl_score_sum: 56.5352, score_diff: -0.0951, il_win: 32.6000, rl_win: 20.5500
2025-09-24 02:34:44,605 - mmdet - INFO - Epoch [3][2340/3517]	lr: 4.915e-05, eta: 16:44:36, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2553, debug_std_frame_0: 0.3265, debug_std_frame_1: 0.3534, debug_std_frame_2: 0.3906, debug_std_frame_3: 0.4390, debug_std_frame_4: 0.4908, debug_std_frame_5: 0.5451, loss_rl: -0.2082, loss_critic: 1.4148, loss_rl_bc: 0.0245, il_score: 0.5702, rl_score: 0.5872, prev_frame_loss_waypoint_0: 0.2743, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.7952, grad_norm: 72.9607, il_score_sum: 56.4401, rl_score_sum: 56.5352, score_diff: -0.0951, il_win: 32.6000, rl_win: 20.5500
2025-09-24 02:35:00,397 - mmdet - INFO - Epoch [3][2360/3517]	lr: 4.915e-05, eta: 16:44:18, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2494, debug_std_frame_0: 0.3524, debug_std_frame_1: 0.3752, debug_std_frame_2: 0.4088, debug_std_frame_3: 0.4479, debug_std_frame_4: 0.4935, debug_std_frame_5: 0.5413, loss_rl: -0.1701, loss_critic: 1.5121, loss_rl_bc: 0.0407, il_score: 0.5950, rl_score: 0.5425, prev_frame_loss_waypoint_0: 0.2815, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.9613, grad_norm: 71.9356, il_score_sum: 56.4401, rl_score_sum: 56.5352, score_diff: -0.0951, il_win: 32.6000, rl_win: 20.5500
2025-09-24 02:35:16,462 - mmdet - INFO - Epoch [3][2380/3517]	lr: 4.915e-05, eta: 16:44:02, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2306, debug_std_frame_0: 0.4155, debug_std_frame_1: 0.4405, debug_std_frame_2: 0.4718, debug_std_frame_3: 0.5118, debug_std_frame_4: 0.5503, debug_std_frame_5: 0.5914, loss_rl: -0.2033, loss_critic: 1.3621, loss_rl_bc: 0.0241, il_score: 0.5918, rl_score: 0.5988, prev_frame_loss_waypoint_0: 0.2299, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.6797, grad_norm: 80.0711, il_score_sum: 56.3483, rl_score_sum: 56.6471, score_diff: -0.2988, il_win: 32.9500, rl_win: 20.9000
2025-09-24 02:35:32,348 - mmdet - INFO - Epoch [3][2400/3517]	lr: 4.915e-05, eta: 16:43:44, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2387, debug_std_frame_0: 0.3772, debug_std_frame_1: 0.4046, debug_std_frame_2: 0.4421, debug_std_frame_3: 0.4885, debug_std_frame_4: 0.5374, debug_std_frame_5: 0.5881, loss_rl: -0.1872, loss_critic: 1.2222, loss_rl_bc: 0.0266, il_score: 0.5644, rl_score: 0.5798, prev_frame_loss_waypoint_0: 0.2495, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.5886, grad_norm: 55.9196, il_score_sum: 56.3483, rl_score_sum: 56.6471, score_diff: -0.2988, il_win: 32.9500, rl_win: 20.9000
2025-09-24 02:35:48,328 - mmdet - INFO - Epoch [3][2420/3517]	lr: 4.915e-05, eta: 16:43:27, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2193, debug_std_frame_0: 0.3308, debug_std_frame_1: 0.3557, debug_std_frame_2: 0.3929, debug_std_frame_3: 0.4367, debug_std_frame_4: 0.4853, debug_std_frame_5: 0.5400, loss_rl: -0.2265, loss_critic: 1.5320, loss_rl_bc: 0.0230, il_score: 0.5828, rl_score: 0.6206, prev_frame_loss_waypoint_0: 0.2554, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.8319, grad_norm: 90.1508, il_score_sum: 56.3483, rl_score_sum: 56.6471, score_diff: -0.2988, il_win: 32.9500, rl_win: 20.9000
2025-09-24 02:36:04,116 - mmdet - INFO - Epoch [3][2440/3517]	lr: 4.915e-05, eta: 16:43:09, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2394, debug_std_frame_0: 0.3100, debug_std_frame_1: 0.3377, debug_std_frame_2: 0.3804, debug_std_frame_3: 0.4279, debug_std_frame_4: 0.4785, debug_std_frame_5: 0.5378, loss_rl: -0.1331, loss_critic: 1.4528, loss_rl_bc: 0.0344, il_score: 0.5491, rl_score: 0.5374, prev_frame_loss_waypoint_0: 0.2661, prev_frame_loss_rl_bc_0: 0.0431, loss: 1.9104, grad_norm: 66.1489, il_score_sum: 56.3483, rl_score_sum: 56.6471, score_diff: -0.2988, il_win: 32.9500, rl_win: 20.9000
2025-09-24 02:36:19,982 - mmdet - INFO - Epoch [3][2460/3517]	lr: 4.915e-05, eta: 16:42:51, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2366, debug_std_frame_0: 0.4047, debug_std_frame_1: 0.4211, debug_std_frame_2: 0.4486, debug_std_frame_3: 0.4872, debug_std_frame_4: 0.5301, debug_std_frame_5: 0.5797, loss_rl: -0.2297, loss_critic: 1.2537, loss_rl_bc: 0.0278, il_score: 0.5864, rl_score: 0.6157, prev_frame_loss_waypoint_0: 0.2485, prev_frame_loss_rl_bc_0: 0.0261, loss: 1.5708, grad_norm: 84.8667, il_score_sum: 56.3483, rl_score_sum: 56.6471, score_diff: -0.2988, il_win: 32.9500, rl_win: 20.9000
2025-09-24 02:36:36,141 - mmdet - INFO - Epoch [3][2480/3517]	lr: 4.915e-05, eta: 16:42:36, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2404, debug_std_frame_0: 0.4125, debug_std_frame_1: 0.4292, debug_std_frame_2: 0.4599, debug_std_frame_3: 0.4989, debug_std_frame_4: 0.5423, debug_std_frame_5: 0.5899, loss_rl: -0.1664, loss_critic: 1.3626, loss_rl_bc: 0.0357, il_score: 0.5824, rl_score: 0.5600, prev_frame_loss_waypoint_0: 0.2486, prev_frame_loss_rl_bc_0: 0.0391, loss: 1.7676, grad_norm: 91.6512, il_score_sum: 56.3678, rl_score_sum: 56.8837, score_diff: -0.5159, il_win: 33.2500, rl_win: 21.3000
2025-09-24 02:36:51,957 - mmdet - INFO - Epoch [3][2500/3517]	lr: 4.915e-05, eta: 16:42:18, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.3015, debug_std_frame_0: 0.4014, debug_std_frame_1: 0.4202, debug_std_frame_2: 0.4542, debug_std_frame_3: 0.4978, debug_std_frame_4: 0.5439, debug_std_frame_5: 0.5938, loss_rl: -0.1607, loss_critic: 1.4654, loss_rl_bc: 0.0289, il_score: 0.5484, rl_score: 0.6029, prev_frame_loss_waypoint_0: 0.3254, prev_frame_loss_rl_bc_0: 0.0300, loss: 1.9985, grad_norm: 107.0829, il_score_sum: 56.3678, rl_score_sum: 56.8837, score_diff: -0.5159, il_win: 33.2500, rl_win: 21.3000
2025-09-24 02:37:07,924 - mmdet - INFO - Epoch [3][2520/3517]	lr: 4.915e-05, eta: 16:42:01, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0072, loss_waypoint: 0.2453, debug_std_frame_0: 0.4049, debug_std_frame_1: 0.4283, debug_std_frame_2: 0.4667, debug_std_frame_3: 0.5133, debug_std_frame_4: 0.5605, debug_std_frame_5: 0.6079, loss_rl: -0.1871, loss_critic: 1.5074, loss_rl_bc: 0.0320, il_score: 0.5858, rl_score: 0.5687, prev_frame_loss_waypoint_0: 0.2734, prev_frame_loss_rl_bc_0: 0.0322, loss: 1.9103, grad_norm: 62.5344, il_score_sum: 56.3678, rl_score_sum: 56.8837, score_diff: -0.5159, il_win: 33.2500, rl_win: 21.3000
2025-09-24 02:37:23,846 - mmdet - INFO - Epoch [3][2540/3517]	lr: 4.915e-05, eta: 16:41:44, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2157, debug_std_frame_0: 0.3742, debug_std_frame_1: 0.4001, debug_std_frame_2: 0.4491, debug_std_frame_3: 0.5024, debug_std_frame_4: 0.5580, debug_std_frame_5: 0.6126, loss_rl: -0.1662, loss_critic: 1.1894, loss_rl_bc: 0.0278, il_score: 0.6147, rl_score: 0.5893, prev_frame_loss_waypoint_0: 0.2424, prev_frame_loss_rl_bc_0: 0.0337, loss: 1.5510, grad_norm: 61.5479, il_score_sum: 56.3678, rl_score_sum: 56.8837, score_diff: -0.5159, il_win: 33.2500, rl_win: 21.3000
2025-09-24 02:37:39,947 - mmdet - INFO - Epoch [3][2560/3517]	lr: 4.915e-05, eta: 16:41:28, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2346, debug_std_frame_0: 0.3419, debug_std_frame_1: 0.3693, debug_std_frame_2: 0.4115, debug_std_frame_3: 0.4595, debug_std_frame_4: 0.5158, debug_std_frame_5: 0.5708, loss_rl: -0.1732, loss_critic: 1.2254, loss_rl_bc: 0.0371, il_score: 0.6266, rl_score: 0.5915, prev_frame_loss_waypoint_0: 0.2586, prev_frame_loss_rl_bc_0: 0.0389, loss: 1.6295, grad_norm: 90.1064, il_score_sum: 56.3678, rl_score_sum: 56.8837, score_diff: -0.5159, il_win: 33.2500, rl_win: 21.3000
2025-09-24 02:37:55,937 - mmdet - INFO - Epoch [3][2580/3517]	lr: 4.915e-05, eta: 16:41:12, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2153, debug_std_frame_0: 0.3611, debug_std_frame_1: 0.3858, debug_std_frame_2: 0.4252, debug_std_frame_3: 0.4690, debug_std_frame_4: 0.5217, debug_std_frame_5: 0.5772, loss_rl: -0.2275, loss_critic: 1.2743, loss_rl_bc: 0.0207, il_score: 0.6334, rl_score: 0.6142, prev_frame_loss_waypoint_0: 0.2380, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.5546, grad_norm: 52.9720, il_score_sum: 56.7741, rl_score_sum: 57.0410, score_diff: -0.2669, il_win: 33.6000, rl_win: 21.6500
2025-09-24 02:38:11,848 - mmdet - INFO - Epoch [3][2600/3517]	lr: 4.915e-05, eta: 16:40:54, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2325, debug_std_frame_0: 0.3061, debug_std_frame_1: 0.3344, debug_std_frame_2: 0.3823, debug_std_frame_3: 0.4317, debug_std_frame_4: 0.4872, debug_std_frame_5: 0.5468, loss_rl: -0.2245, loss_critic: 1.5831, loss_rl_bc: 0.0274, il_score: 0.5704, rl_score: 0.5888, prev_frame_loss_waypoint_0: 0.2404, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.8915, grad_norm: 78.0769, il_score_sum: 56.7741, rl_score_sum: 57.0410, score_diff: -0.2669, il_win: 33.6000, rl_win: 21.6500
2025-09-24 02:38:27,735 - mmdet - INFO - Epoch [3][2620/3517]	lr: 4.915e-05, eta: 16:40:37, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2454, debug_std_frame_0: 0.3002, debug_std_frame_1: 0.3329, debug_std_frame_2: 0.3925, debug_std_frame_3: 0.4544, debug_std_frame_4: 0.5249, debug_std_frame_5: 0.5900, loss_rl: -0.1117, loss_critic: 1.3285, loss_rl_bc: 0.0243, il_score: 0.5688, rl_score: 0.5604, prev_frame_loss_waypoint_0: 0.2639, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.7862, grad_norm: 80.3817, il_score_sum: 56.7741, rl_score_sum: 57.0410, score_diff: -0.2669, il_win: 33.6000, rl_win: 21.6500
2025-09-24 02:38:43,758 - mmdet - INFO - Epoch [3][2640/3517]	lr: 4.915e-05, eta: 16:40:21, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2286, debug_std_frame_0: 0.3169, debug_std_frame_1: 0.3440, debug_std_frame_2: 0.3870, debug_std_frame_3: 0.4376, debug_std_frame_4: 0.4996, debug_std_frame_5: 0.5602, loss_rl: -0.1683, loss_critic: 1.2302, loss_rl_bc: 0.0299, il_score: 0.6020, rl_score: 0.6033, prev_frame_loss_waypoint_0: 0.2162, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.5677, grad_norm: 54.7093, il_score_sum: 56.7741, rl_score_sum: 57.0410, score_diff: -0.2669, il_win: 33.6000, rl_win: 21.6500
2025-09-24 02:38:59,647 - mmdet - INFO - Epoch [3][2660/3517]	lr: 4.915e-05, eta: 16:40:03, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2809, debug_std_frame_0: 0.3344, debug_std_frame_1: 0.3588, debug_std_frame_2: 0.4014, debug_std_frame_3: 0.4519, debug_std_frame_4: 0.5174, debug_std_frame_5: 0.5787, loss_rl: -0.1230, loss_critic: 1.2523, loss_rl_bc: 0.0398, il_score: 0.5416, rl_score: 0.5533, prev_frame_loss_waypoint_0: 0.2881, prev_frame_loss_rl_bc_0: 0.0424, loss: 1.7883, grad_norm: 100.7219, il_score_sum: 56.7741, rl_score_sum: 57.0410, score_diff: -0.2669, il_win: 33.6000, rl_win: 21.6500
2025-09-24 02:39:15,427 - mmdet - INFO - Epoch [3][2680/3517]	lr: 4.915e-05, eta: 16:39:45, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2322, debug_std_frame_0: 0.3944, debug_std_frame_1: 0.4139, debug_std_frame_2: 0.4429, debug_std_frame_3: 0.4853, debug_std_frame_4: 0.5375, debug_std_frame_5: 0.5881, loss_rl: -0.1846, loss_critic: 1.3196, loss_rl_bc: 0.0335, il_score: 0.6032, rl_score: 0.5545, prev_frame_loss_waypoint_0: 0.2375, prev_frame_loss_rl_bc_0: 0.0380, loss: 1.6843, grad_norm: 60.7098, il_score_sum: 56.8849, rl_score_sum: 57.2542, score_diff: -0.3693, il_win: 33.9000, rl_win: 22.0000
2025-09-24 02:39:31,325 - mmdet - INFO - Epoch [3][2700/3517]	lr: 4.915e-05, eta: 16:39:28, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.3374, debug_std_frame_0: 0.4416, debug_std_frame_1: 0.4596, debug_std_frame_2: 0.4848, debug_std_frame_3: 0.5282, debug_std_frame_4: 0.5721, debug_std_frame_5: 0.6128, loss_rl: -0.2444, loss_critic: 1.4029, loss_rl_bc: 0.0331, il_score: 0.5126, rl_score: 0.6075, prev_frame_loss_waypoint_0: 0.3385, prev_frame_loss_rl_bc_0: 0.0298, loss: 1.9047, grad_norm: 99.4699, il_score_sum: 56.8849, rl_score_sum: 57.2542, score_diff: -0.3693, il_win: 33.9000, rl_win: 22.0000
2025-09-24 02:39:47,212 - mmdet - INFO - Epoch [3][2720/3517]	lr: 4.915e-05, eta: 16:39:10, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2811, debug_std_frame_0: 0.4108, debug_std_frame_1: 0.4319, debug_std_frame_2: 0.4632, debug_std_frame_3: 0.5100, debug_std_frame_4: 0.5512, debug_std_frame_5: 0.5936, loss_rl: -0.2080, loss_critic: 1.7436, loss_rl_bc: 0.0292, il_score: 0.5146, rl_score: 0.5787, prev_frame_loss_waypoint_0: 0.3045, prev_frame_loss_rl_bc_0: 0.0318, loss: 2.1897, grad_norm: 65.7751, il_score_sum: 56.8849, rl_score_sum: 57.2542, score_diff: -0.3693, il_win: 33.9000, rl_win: 22.0000
2025-09-24 02:40:03,005 - mmdet - INFO - Epoch [3][2740/3517]	lr: 4.915e-05, eta: 16:38:52, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2915, debug_std_frame_0: 0.3760, debug_std_frame_1: 0.4026, debug_std_frame_2: 0.4496, debug_std_frame_3: 0.5067, debug_std_frame_4: 0.5702, debug_std_frame_5: 0.6209, loss_rl: -0.1493, loss_critic: 1.1973, loss_rl_bc: 0.0365, il_score: 0.5548, rl_score: 0.5711, prev_frame_loss_waypoint_0: 0.3034, prev_frame_loss_rl_bc_0: 0.0810, loss: 1.7682, grad_norm: 78.4147, il_score_sum: 56.8849, rl_score_sum: 57.2542, score_diff: -0.3693, il_win: 33.9000, rl_win: 22.0000
2025-09-24 02:40:18,894 - mmdet - INFO - Epoch [3][2760/3517]	lr: 4.915e-05, eta: 16:38:35, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2449, debug_std_frame_0: 0.3776, debug_std_frame_1: 0.4103, debug_std_frame_2: 0.4669, debug_std_frame_3: 0.5370, debug_std_frame_4: 0.6132, debug_std_frame_5: 0.6650, loss_rl: -0.1443, loss_critic: 1.1637, loss_rl_bc: 0.0334, il_score: 0.5967, rl_score: 0.5699, prev_frame_loss_waypoint_0: 0.2605, prev_frame_loss_rl_bc_0: 0.0376, loss: 1.6036, grad_norm: 58.2553, il_score_sum: 56.8849, rl_score_sum: 57.2542, score_diff: -0.3693, il_win: 33.9000, rl_win: 22.0000
2025-09-24 02:40:34,677 - mmdet - INFO - Epoch [3][2780/3517]	lr: 4.915e-05, eta: 16:38:17, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2434, debug_std_frame_0: 0.3707, debug_std_frame_1: 0.4050, debug_std_frame_2: 0.4608, debug_std_frame_3: 0.5282, debug_std_frame_4: 0.6056, debug_std_frame_5: 0.6629, loss_rl: -0.1637, loss_critic: 1.3378, loss_rl_bc: 0.0330, il_score: 0.5727, rl_score: 0.5740, prev_frame_loss_waypoint_0: 0.2905, prev_frame_loss_rl_bc_0: 0.0411, loss: 1.7907, grad_norm: 74.7527, il_score_sum: 56.8761, rl_score_sum: 57.3891, score_diff: -0.5130, il_win: 34.1500, rl_win: 22.4000
2025-09-24 02:40:50,774 - mmdet - INFO - Epoch [3][2800/3517]	lr: 4.915e-05, eta: 16:38:01, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2597, debug_std_frame_0: 0.3578, debug_std_frame_1: 0.3899, debug_std_frame_2: 0.4419, debug_std_frame_3: 0.5095, debug_std_frame_4: 0.5859, debug_std_frame_5: 0.6486, loss_rl: -0.2043, loss_critic: 1.3775, loss_rl_bc: 0.0294, il_score: 0.5892, rl_score: 0.6074, prev_frame_loss_waypoint_0: 0.2982, prev_frame_loss_rl_bc_0: 0.0320, loss: 1.8006, grad_norm: 96.1696, il_score_sum: 56.8761, rl_score_sum: 57.3891, score_diff: -0.5130, il_win: 34.1500, rl_win: 22.4000
2025-09-24 02:41:06,693 - mmdet - INFO - Epoch [3][2820/3517]	lr: 4.915e-05, eta: 16:37:44, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2193, debug_std_frame_0: 0.2862, debug_std_frame_1: 0.3137, debug_std_frame_2: 0.3591, debug_std_frame_3: 0.4225, debug_std_frame_4: 0.5122, debug_std_frame_5: 0.5907, loss_rl: -0.2193, loss_critic: 1.3762, loss_rl_bc: 0.0151, il_score: 0.5897, rl_score: 0.6514, prev_frame_loss_waypoint_0: 0.2545, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.6750, grad_norm: 90.2330, il_score_sum: 56.8761, rl_score_sum: 57.3891, score_diff: -0.5130, il_win: 34.1500, rl_win: 22.4000
2025-09-24 02:41:22,516 - mmdet - INFO - Epoch [3][2840/3517]	lr: 4.915e-05, eta: 16:37:26, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2442, debug_std_frame_0: 0.2687, debug_std_frame_1: 0.2964, debug_std_frame_2: 0.3443, debug_std_frame_3: 0.4087, debug_std_frame_4: 0.4859, debug_std_frame_5: 0.5665, loss_rl: -0.1116, loss_critic: 1.4449, loss_rl_bc: 0.0342, il_score: 0.5385, rl_score: 0.5302, prev_frame_loss_waypoint_0: 0.2653, prev_frame_loss_rl_bc_0: 0.0359, loss: 1.9205, grad_norm: 83.4005, il_score_sum: 56.8761, rl_score_sum: 57.3891, score_diff: -0.5130, il_win: 34.1500, rl_win: 22.4000
2025-09-24 02:41:38,344 - mmdet - INFO - Epoch [3][2860/3517]	lr: 4.915e-05, eta: 16:37:08, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2465, debug_std_frame_0: 0.3521, debug_std_frame_1: 0.3874, debug_std_frame_2: 0.4320, debug_std_frame_3: 0.5012, debug_std_frame_4: 0.5632, debug_std_frame_5: 0.6300, loss_rl: -0.0717, loss_critic: 1.2443, loss_rl_bc: 0.0395, il_score: 0.5941, rl_score: 0.5334, prev_frame_loss_waypoint_0: 0.2702, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.7751, grad_norm: 82.3688, il_score_sum: 56.8761, rl_score_sum: 57.3891, score_diff: -0.5130, il_win: 34.1500, rl_win: 22.4000
2025-09-24 02:41:54,243 - mmdet - INFO - Epoch [3][2880/3517]	lr: 4.915e-05, eta: 16:36:51, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0068, loss_waypoint: 0.2694, debug_std_frame_0: 0.3920, debug_std_frame_1: 0.4219, debug_std_frame_2: 0.4592, debug_std_frame_3: 0.5154, debug_std_frame_4: 0.5745, debug_std_frame_5: 0.6346, loss_rl: -0.1605, loss_critic: 1.0963, loss_rl_bc: 0.0358, il_score: 0.5541, rl_score: 0.5304, prev_frame_loss_waypoint_0: 0.2650, prev_frame_loss_rl_bc_0: 0.0395, loss: 1.5525, grad_norm: 85.4042, il_score_sum: 56.9277, rl_score_sum: 57.3968, score_diff: -0.4691, il_win: 34.4000, rl_win: 22.7500
2025-09-24 02:42:10,236 - mmdet - INFO - Epoch [3][2900/3517]	lr: 4.915e-05, eta: 16:36:34, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2464, debug_std_frame_0: 0.3842, debug_std_frame_1: 0.4135, debug_std_frame_2: 0.4536, debug_std_frame_3: 0.5126, debug_std_frame_4: 0.5683, debug_std_frame_5: 0.6354, loss_rl: -0.1991, loss_critic: 1.3407, loss_rl_bc: 0.0240, il_score: 0.5902, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2855, prev_frame_loss_rl_bc_0: 0.0278, loss: 1.7326, grad_norm: 98.8622, il_score_sum: 56.9277, rl_score_sum: 57.3968, score_diff: -0.4691, il_win: 34.4000, rl_win: 22.7500
2025-09-24 02:42:26,287 - mmdet - INFO - Epoch [3][2920/3517]	lr: 4.915e-05, eta: 16:36:18, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2394, debug_std_frame_0: 0.3117, debug_std_frame_1: 0.3375, debug_std_frame_2: 0.3799, debug_std_frame_3: 0.4396, debug_std_frame_4: 0.5021, debug_std_frame_5: 0.5757, loss_rl: -0.1705, loss_critic: 1.2862, loss_rl_bc: 0.0231, il_score: 0.5660, rl_score: 0.5827, prev_frame_loss_waypoint_0: 0.2635, prev_frame_loss_rl_bc_0: 0.0286, loss: 1.6777, grad_norm: 91.3680, il_score_sum: 56.9277, rl_score_sum: 57.3968, score_diff: -0.4691, il_win: 34.4000, rl_win: 22.7500
2025-09-24 02:42:42,158 - mmdet - INFO - Epoch [3][2940/3517]	lr: 4.915e-05, eta: 16:36:01, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2560, debug_std_frame_0: 0.3028, debug_std_frame_1: 0.3325, debug_std_frame_2: 0.3783, debug_std_frame_3: 0.4474, debug_std_frame_4: 0.5139, debug_std_frame_5: 0.5892, loss_rl: -0.1431, loss_critic: 1.1946, loss_rl_bc: 0.0292, il_score: 0.5810, rl_score: 0.5846, prev_frame_loss_waypoint_0: 0.2715, prev_frame_loss_rl_bc_0: 0.0330, loss: 1.6486, grad_norm: 88.8197, il_score_sum: 56.9277, rl_score_sum: 57.3968, score_diff: -0.4691, il_win: 34.4000, rl_win: 22.7500
2025-09-24 02:42:58,055 - mmdet - INFO - Epoch [3][2960/3517]	lr: 4.915e-05, eta: 16:35:44, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0071, loss_waypoint: 0.2624, debug_std_frame_0: 0.3301, debug_std_frame_1: 0.3684, debug_std_frame_2: 0.4167, debug_std_frame_3: 0.4880, debug_std_frame_4: 0.5454, debug_std_frame_5: 0.6086, loss_rl: -0.1109, loss_critic: 1.2848, loss_rl_bc: 0.0425, il_score: 0.5456, rl_score: 0.5015, prev_frame_loss_waypoint_0: 0.2755, prev_frame_loss_rl_bc_0: 0.0456, loss: 1.8071, grad_norm: 89.8439, il_score_sum: 56.9277, rl_score_sum: 57.3968, score_diff: -0.4691, il_win: 34.4000, rl_win: 22.7500
2025-09-24 02:43:13,958 - mmdet - INFO - Epoch [3][2980/3517]	lr: 4.915e-05, eta: 16:35:26, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2559, debug_std_frame_0: 0.4313, debug_std_frame_1: 0.4571, debug_std_frame_2: 0.4862, debug_std_frame_3: 0.5346, debug_std_frame_4: 0.5807, debug_std_frame_5: 0.6389, loss_rl: -0.1762, loss_critic: 1.3337, loss_rl_bc: 0.0377, il_score: 0.5930, rl_score: 0.5735, prev_frame_loss_waypoint_0: 0.2652, prev_frame_loss_rl_bc_0: 0.0396, loss: 1.7634, grad_norm: 84.0066, il_score_sum: 56.8985, rl_score_sum: 57.5154, score_diff: -0.6170, il_win: 34.6000, rl_win: 23.1000
2025-09-24 02:43:29,780 - mmdet - INFO - Epoch [3][3000/3517]	lr: 4.915e-05, eta: 16:35:09, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2499, debug_std_frame_0: 0.4566, debug_std_frame_1: 0.4818, debug_std_frame_2: 0.5127, debug_std_frame_3: 0.5632, debug_std_frame_4: 0.6093, debug_std_frame_5: 0.6626, loss_rl: -0.1414, loss_critic: 1.4602, loss_rl_bc: 0.0422, il_score: 0.5617, rl_score: 0.5073, prev_frame_loss_waypoint_0: 0.2468, prev_frame_loss_rl_bc_0: 0.0538, loss: 1.9195, grad_norm: 69.2045, il_score_sum: 56.8985, rl_score_sum: 57.5154, score_diff: -0.6170, il_win: 34.6000, rl_win: 23.1000
2025-09-24 02:43:45,680 - mmdet - INFO - Epoch [3][3020/3517]	lr: 4.915e-05, eta: 16:34:51, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2511, debug_std_frame_0: 0.4147, debug_std_frame_1: 0.4456, debug_std_frame_2: 0.4779, debug_std_frame_3: 0.5341, debug_std_frame_4: 0.5880, debug_std_frame_5: 0.6408, loss_rl: -0.1969, loss_critic: 1.3417, loss_rl_bc: 0.0296, il_score: 0.5687, rl_score: 0.5867, prev_frame_loss_waypoint_0: 0.2583, prev_frame_loss_rl_bc_0: 0.0271, loss: 1.7188, grad_norm: 56.3563, il_score_sum: 56.8985, rl_score_sum: 57.5154, score_diff: -0.6170, il_win: 34.6000, rl_win: 23.1000
2025-09-24 02:44:01,577 - mmdet - INFO - Epoch [3][3040/3517]	lr: 4.915e-05, eta: 16:34:34, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2731, debug_std_frame_0: 0.3675, debug_std_frame_1: 0.3973, debug_std_frame_2: 0.4325, debug_std_frame_3: 0.4893, debug_std_frame_4: 0.5472, debug_std_frame_5: 0.6049, loss_rl: -0.1109, loss_critic: 1.1982, loss_rl_bc: 0.0424, il_score: 0.5852, rl_score: 0.5483, prev_frame_loss_waypoint_0: 0.2860, prev_frame_loss_rl_bc_0: 0.0413, loss: 1.7382, grad_norm: 79.2605, il_score_sum: 56.8985, rl_score_sum: 57.5154, score_diff: -0.6170, il_win: 34.6000, rl_win: 23.1000
2025-09-24 02:44:17,449 - mmdet - INFO - Epoch [3][3060/3517]	lr: 4.915e-05, eta: 16:34:17, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2416, debug_std_frame_0: 0.3441, debug_std_frame_1: 0.3739, debug_std_frame_2: 0.4152, debug_std_frame_3: 0.4718, debug_std_frame_4: 0.5288, debug_std_frame_5: 0.5876, loss_rl: -0.1746, loss_critic: 1.3627, loss_rl_bc: 0.0253, il_score: 0.5550, rl_score: 0.5893, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.7437, grad_norm: 79.4221, il_score_sum: 56.8985, rl_score_sum: 57.5154, score_diff: -0.6170, il_win: 34.6000, rl_win: 23.1000
2025-09-24 02:44:33,374 - mmdet - INFO - Epoch [3][3080/3517]	lr: 4.915e-05, eta: 16:34:00, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2222, debug_std_frame_0: 0.3030, debug_std_frame_1: 0.3304, debug_std_frame_2: 0.3713, debug_std_frame_3: 0.4277, debug_std_frame_4: 0.4900, debug_std_frame_5: 0.5535, loss_rl: -0.2036, loss_critic: 1.3810, loss_rl_bc: 0.0268, il_score: 0.6172, rl_score: 0.6126, prev_frame_loss_waypoint_0: 0.2387, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.6959, grad_norm: 60.7815, il_score_sum: 57.0122, rl_score_sum: 57.5993, score_diff: -0.5870, il_win: 34.8500, rl_win: 23.4500
2025-09-24 02:44:49,175 - mmdet - INFO - Epoch [3][3100/3517]	lr: 4.915e-05, eta: 16:33:42, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2353, debug_std_frame_0: 0.3104, debug_std_frame_1: 0.3403, debug_std_frame_2: 0.3888, debug_std_frame_3: 0.4514, debug_std_frame_4: 0.5226, debug_std_frame_5: 0.5877, loss_rl: -0.1841, loss_critic: 1.2757, loss_rl_bc: 0.0254, il_score: 0.6132, rl_score: 0.6128, prev_frame_loss_waypoint_0: 0.2303, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.6141, grad_norm: 72.2012, il_score_sum: 57.0122, rl_score_sum: 57.5993, score_diff: -0.5870, il_win: 34.8500, rl_win: 23.4500
2025-09-24 02:45:04,922 - mmdet - INFO - Epoch [3][3120/3517]	lr: 4.915e-05, eta: 16:33:23, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0072, loss_waypoint: 0.2489, debug_std_frame_0: 0.2999, debug_std_frame_1: 0.3360, debug_std_frame_2: 0.3900, debug_std_frame_3: 0.4546, debug_std_frame_4: 0.5341, debug_std_frame_5: 0.5995, loss_rl: -0.1616, loss_critic: 1.0725, loss_rl_bc: 0.0244, il_score: 0.5781, rl_score: 0.5928, prev_frame_loss_waypoint_0: 0.2597, prev_frame_loss_rl_bc_0: 0.0267, loss: 1.4777, grad_norm: 75.1701, il_score_sum: 57.0122, rl_score_sum: 57.5993, score_diff: -0.5870, il_win: 34.8500, rl_win: 23.4500
2025-09-24 02:45:20,931 - mmdet - INFO - Epoch [3][3140/3517]	lr: 4.915e-05, eta: 16:33:07, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2620, debug_std_frame_0: 0.2817, debug_std_frame_1: 0.3155, debug_std_frame_2: 0.3703, debug_std_frame_3: 0.4349, debug_std_frame_4: 0.5128, debug_std_frame_5: 0.5821, loss_rl: -0.1646, loss_critic: 1.2322, loss_rl_bc: 0.0285, il_score: 0.5748, rl_score: 0.5925, prev_frame_loss_waypoint_0: 0.2543, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.6446, grad_norm: 80.7945, il_score_sum: 57.0122, rl_score_sum: 57.5993, score_diff: -0.5870, il_win: 34.8500, rl_win: 23.4500
2025-09-24 02:45:36,754 - mmdet - INFO - Epoch [3][3160/3517]	lr: 4.915e-05, eta: 16:32:49, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0070, loss_waypoint: 0.2507, debug_std_frame_0: 0.2819, debug_std_frame_1: 0.3140, debug_std_frame_2: 0.3657, debug_std_frame_3: 0.4230, debug_std_frame_4: 0.4994, debug_std_frame_5: 0.5732, loss_rl: -0.1988, loss_critic: 1.3564, loss_rl_bc: 0.0210, il_score: 0.5775, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2831, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.7422, grad_norm: 92.1378, il_score_sum: 57.0122, rl_score_sum: 57.5993, score_diff: -0.5870, il_win: 34.8500, rl_win: 23.4500
2025-09-24 02:45:52,876 - mmdet - INFO - Epoch [3][3180/3517]	lr: 4.915e-05, eta: 16:32:34, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0071, loss_waypoint: 0.2394, debug_std_frame_0: 0.2663, debug_std_frame_1: 0.2984, debug_std_frame_2: 0.3485, debug_std_frame_3: 0.4038, debug_std_frame_4: 0.4768, debug_std_frame_5: 0.5548, loss_rl: -0.2180, loss_critic: 1.3231, loss_rl_bc: 0.0239, il_score: 0.5369, rl_score: 0.6140, prev_frame_loss_waypoint_0: 0.2488, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.6465, grad_norm: 94.7516, il_score_sum: 57.0504, rl_score_sum: 57.8834, score_diff: -0.8330, il_win: 35.0500, rl_win: 23.8500
2025-09-24 02:46:08,838 - mmdet - INFO - Epoch [3][3200/3517]	lr: 4.915e-05, eta: 16:32:17, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2677, debug_std_frame_0: 0.2742, debug_std_frame_1: 0.3113, debug_std_frame_2: 0.3631, debug_std_frame_3: 0.4189, debug_std_frame_4: 0.4833, debug_std_frame_5: 0.5614, loss_rl: -0.2076, loss_critic: 1.5543, loss_rl_bc: 0.0218, il_score: 0.5304, rl_score: 0.6049, prev_frame_loss_waypoint_0: 0.3187, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.9935, grad_norm: 85.4177, il_score_sum: 57.0504, rl_score_sum: 57.8834, score_diff: -0.8330, il_win: 35.0500, rl_win: 23.8500
2025-09-24 02:46:24,816 - mmdet - INFO - Epoch [3][3220/3517]	lr: 4.915e-05, eta: 16:32:00, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2139, debug_std_frame_0: 0.2837, debug_std_frame_1: 0.3238, debug_std_frame_2: 0.3706, debug_std_frame_3: 0.4207, debug_std_frame_4: 0.4844, debug_std_frame_5: 0.5586, loss_rl: -0.1977, loss_critic: 1.4718, loss_rl_bc: 0.0215, il_score: 0.6189, rl_score: 0.6073, prev_frame_loss_waypoint_0: 0.2370, prev_frame_loss_rl_bc_0: 0.0247, loss: 1.7791, grad_norm: 64.0957, il_score_sum: 57.0504, rl_score_sum: 57.8834, score_diff: -0.8330, il_win: 35.0500, rl_win: 23.8500
2025-09-24 02:46:40,574 - mmdet - INFO - Epoch [3][3240/3517]	lr: 4.915e-05, eta: 16:31:42, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0071, loss_waypoint: 0.2615, debug_std_frame_0: 0.2955, debug_std_frame_1: 0.3341, debug_std_frame_2: 0.3790, debug_std_frame_3: 0.4292, debug_std_frame_4: 0.4859, debug_std_frame_5: 0.5508, loss_rl: -0.2105, loss_critic: 1.5956, loss_rl_bc: 0.0265, il_score: 0.5778, rl_score: 0.6136, prev_frame_loss_waypoint_0: 0.2789, prev_frame_loss_rl_bc_0: 0.0285, loss: 1.9877, grad_norm: 89.5864, il_score_sum: 57.0504, rl_score_sum: 57.8834, score_diff: -0.8330, il_win: 35.0500, rl_win: 23.8500
2025-09-24 02:46:56,381 - mmdet - INFO - Epoch [3][3260/3517]	lr: 4.915e-05, eta: 16:31:24, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2492, debug_std_frame_0: 0.3144, debug_std_frame_1: 0.3549, debug_std_frame_2: 0.4046, debug_std_frame_3: 0.4630, debug_std_frame_4: 0.5259, debug_std_frame_5: 0.5897, loss_rl: -0.1970, loss_critic: 1.3294, loss_rl_bc: 0.0211, il_score: 0.5771, rl_score: 0.6236, prev_frame_loss_waypoint_0: 0.2559, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.6914, grad_norm: 81.0969, il_score_sum: 57.0504, rl_score_sum: 57.8834, score_diff: -0.8330, il_win: 35.0500, rl_win: 23.8500
2025-09-24 02:47:12,241 - mmdet - INFO - Epoch [3][3280/3517]	lr: 4.915e-05, eta: 16:31:07, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2084, debug_std_frame_0: 0.2673, debug_std_frame_1: 0.3040, debug_std_frame_2: 0.3524, debug_std_frame_3: 0.4130, debug_std_frame_4: 0.4776, debug_std_frame_5: 0.5487, loss_rl: -0.1826, loss_critic: 1.4199, loss_rl_bc: 0.0226, il_score: 0.6126, rl_score: 0.5982, prev_frame_loss_waypoint_0: 0.2442, prev_frame_loss_rl_bc_0: 0.0247, loss: 1.7449, grad_norm: 74.6038, il_score_sum: 56.9913, rl_score_sum: 58.0394, score_diff: -1.0481, il_win: 35.2500, rl_win: 24.3000
2025-09-24 02:47:28,314 - mmdet - INFO - Epoch [3][3300/3517]	lr: 4.915e-05, eta: 16:30:51, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2439, debug_std_frame_0: 0.3238, debug_std_frame_1: 0.3593, debug_std_frame_2: 0.3992, debug_std_frame_3: 0.4509, debug_std_frame_4: 0.5096, debug_std_frame_5: 0.5709, loss_rl: -0.1222, loss_critic: 1.5043, loss_rl_bc: 0.0435, il_score: 0.5631, rl_score: 0.5194, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0455, loss: 1.9759, grad_norm: 78.4739, il_score_sum: 56.9913, rl_score_sum: 58.0394, score_diff: -1.0481, il_win: 35.2500, rl_win: 24.3000
2025-09-24 02:47:44,146 - mmdet - INFO - Epoch [3][3320/3517]	lr: 4.915e-05, eta: 16:30:33, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2396, debug_std_frame_0: 0.4361, debug_std_frame_1: 0.4632, debug_std_frame_2: 0.4962, debug_std_frame_3: 0.5382, debug_std_frame_4: 0.5861, debug_std_frame_5: 0.6347, loss_rl: -0.1267, loss_critic: 1.3056, loss_rl_bc: 0.0425, il_score: 0.5616, rl_score: 0.5040, prev_frame_loss_waypoint_0: 0.2963, prev_frame_loss_rl_bc_0: 0.0481, loss: 1.8130, grad_norm: 70.2486, il_score_sum: 56.9913, rl_score_sum: 58.0394, score_diff: -1.0481, il_win: 35.2500, rl_win: 24.3000
2025-09-24 02:47:59,877 - mmdet - INFO - Epoch [3][3340/3517]	lr: 4.915e-05, eta: 16:30:15, time: 0.787, data_time: 0.014, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2620, debug_std_frame_0: 0.4297, debug_std_frame_1: 0.4519, debug_std_frame_2: 0.4800, debug_std_frame_3: 0.5194, debug_std_frame_4: 0.5644, debug_std_frame_5: 0.6135, loss_rl: -0.2169, loss_critic: 1.5502, loss_rl_bc: 0.0285, il_score: 0.5396, rl_score: 0.5609, prev_frame_loss_waypoint_0: 0.2755, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.9349, grad_norm: 74.3540, il_score_sum: 56.9913, rl_score_sum: 58.0394, score_diff: -1.0481, il_win: 35.2500, rl_win: 24.3000
2025-09-24 02:48:15,770 - mmdet - INFO - Epoch [3][3360/3517]	lr: 4.915e-05, eta: 16:29:58, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2607, debug_std_frame_0: 0.4472, debug_std_frame_1: 0.4767, debug_std_frame_2: 0.5176, debug_std_frame_3: 0.5718, debug_std_frame_4: 0.6253, debug_std_frame_5: 0.6700, loss_rl: -0.1321, loss_critic: 1.3085, loss_rl_bc: 0.0368, il_score: 0.5325, rl_score: 0.5421, prev_frame_loss_waypoint_0: 0.3019, prev_frame_loss_rl_bc_0: 0.0403, loss: 1.8244, grad_norm: 87.1882, il_score_sum: 56.9913, rl_score_sum: 58.0394, score_diff: -1.0481, il_win: 35.2500, rl_win: 24.3000
2025-09-24 02:48:31,754 - mmdet - INFO - Epoch [3][3380/3517]	lr: 4.915e-05, eta: 16:29:41, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2518, debug_std_frame_0: 0.4164, debug_std_frame_1: 0.4406, debug_std_frame_2: 0.4752, debug_std_frame_3: 0.5202, debug_std_frame_4: 0.5723, debug_std_frame_5: 0.6197, loss_rl: -0.1386, loss_critic: 1.3891, loss_rl_bc: 0.0308, il_score: 0.5997, rl_score: 0.5843, prev_frame_loss_waypoint_0: 0.2479, prev_frame_loss_rl_bc_0: 0.0309, loss: 1.8193, grad_norm: 86.5525, il_score_sum: 56.9825, rl_score_sum: 58.0164, score_diff: -1.0339, il_win: 35.4500, rl_win: 24.7500
2025-09-24 02:48:47,626 - mmdet - INFO - Epoch [3][3400/3517]	lr: 4.915e-05, eta: 16:29:24, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2431, debug_std_frame_0: 0.3795, debug_std_frame_1: 0.4041, debug_std_frame_2: 0.4416, debug_std_frame_3: 0.4870, debug_std_frame_4: 0.5423, debug_std_frame_5: 0.5937, loss_rl: -0.1794, loss_critic: 1.2524, loss_rl_bc: 0.0343, il_score: 0.6162, rl_score: 0.5633, prev_frame_loss_waypoint_0: 0.2541, prev_frame_loss_rl_bc_0: 0.0344, loss: 1.6472, grad_norm: 70.8785, il_score_sum: 56.9825, rl_score_sum: 58.0164, score_diff: -1.0339, il_win: 35.4500, rl_win: 24.7500
2025-09-24 02:49:03,429 - mmdet - INFO - Epoch [3][3420/3517]	lr: 4.915e-05, eta: 16:29:06, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2242, debug_std_frame_0: 0.3791, debug_std_frame_1: 0.4055, debug_std_frame_2: 0.4466, debug_std_frame_3: 0.4960, debug_std_frame_4: 0.5588, debug_std_frame_5: 0.6095, loss_rl: -0.1703, loss_critic: 1.1564, loss_rl_bc: 0.0330, il_score: 0.6039, rl_score: 0.5589, prev_frame_loss_waypoint_0: 0.2454, prev_frame_loss_rl_bc_0: 0.0377, loss: 1.5344, grad_norm: 65.5733, il_score_sum: 56.9825, rl_score_sum: 58.0164, score_diff: -1.0339, il_win: 35.4500, rl_win: 24.7500
2025-09-24 02:49:19,175 - mmdet - INFO - Epoch [3][3440/3517]	lr: 4.915e-05, eta: 16:28:48, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2497, debug_std_frame_0: 0.3710, debug_std_frame_1: 0.3932, debug_std_frame_2: 0.4298, debug_std_frame_3: 0.4724, debug_std_frame_4: 0.5334, debug_std_frame_5: 0.5810, loss_rl: -0.2057, loss_critic: 1.7214, loss_rl_bc: 0.0280, il_score: 0.5782, rl_score: 0.5998, prev_frame_loss_waypoint_0: 0.2417, prev_frame_loss_rl_bc_0: 0.0258, loss: 2.0684, grad_norm: 96.0242, il_score_sum: 56.9825, rl_score_sum: 58.0164, score_diff: -1.0339, il_win: 35.4500, rl_win: 24.7500
2025-09-24 02:49:35,160 - mmdet - INFO - Epoch [3][3460/3517]	lr: 4.915e-05, eta: 16:28:32, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2218, debug_std_frame_0: 0.3126, debug_std_frame_1: 0.3360, debug_std_frame_2: 0.3772, debug_std_frame_3: 0.4228, debug_std_frame_4: 0.4936, debug_std_frame_5: 0.5481, loss_rl: -0.1853, loss_critic: 0.9949, loss_rl_bc: 0.0200, il_score: 0.6017, rl_score: 0.6181, prev_frame_loss_waypoint_0: 0.2416, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.3235, grad_norm: 73.3552, il_score_sum: 56.9825, rl_score_sum: 58.0164, score_diff: -1.0339, il_win: 35.4500, rl_win: 24.7500
2025-09-24 02:49:51,358 - mmdet - INFO - Epoch [3][3480/3517]	lr: 4.915e-05, eta: 16:28:17, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.3123, debug_std_frame_0: 0.3157, debug_std_frame_1: 0.3387, debug_std_frame_2: 0.3781, debug_std_frame_3: 0.4227, debug_std_frame_4: 0.4875, debug_std_frame_5: 0.5442, loss_rl: -0.1575, loss_critic: 1.5779, loss_rl_bc: 0.0359, il_score: 0.5288, rl_score: 0.5728, prev_frame_loss_waypoint_0: 0.3347, prev_frame_loss_rl_bc_0: 0.0386, loss: 2.1500, grad_norm: 112.0624, il_score_sum: 57.0186, rl_score_sum: 58.0476, score_diff: -1.0290, il_win: 35.6500, rl_win: 25.2000
2025-09-24 02:50:07,341 - mmdet - INFO - Epoch [3][3500/3517]	lr: 4.915e-05, eta: 16:28:00, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2519, debug_std_frame_0: 0.3219, debug_std_frame_1: 0.3494, debug_std_frame_2: 0.3904, debug_std_frame_3: 0.4357, debug_std_frame_4: 0.5034, debug_std_frame_5: 0.5620, loss_rl: -0.1643, loss_critic: 1.5211, loss_rl_bc: 0.0257, il_score: 0.5860, rl_score: 0.6004, prev_frame_loss_waypoint_0: 0.2589, prev_frame_loss_rl_bc_0: 0.0273, loss: 1.9285, grad_norm: 83.3166, il_score_sum: 57.0186, rl_score_sum: 58.0476, score_diff: -1.0290, il_win: 35.6500, rl_win: 25.2000
2025-09-24 02:50:20,391 - mmdet - INFO - Saving checkpoint at 3 epochs
2025-09-24 02:52:53,825 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 02:52:53,826 - mmdet - INFO - Epoch(val) [3][753]	plan_L2_1s: 0.4698, plan_L2_2s: 0.8368, plan_L2_3s: 1.2927, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0002, plan_obj_box_col_1s: 0.0015, plan_obj_box_col_2s: 0.0024, plan_obj_box_col_3s: 0.0073, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.4946, plan_L2_2s_rl_actor: 0.9003, plan_L2_3s_rl_actor: 1.4031, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0001, plan_obj_col_3s_rl_actor: 0.0002, plan_obj_box_col_1s_rl_actor: 0.0036, plan_obj_box_col_2s_rl_actor: 0.0070, plan_obj_box_col_3s_rl_actor: 0.0123, fut_valid_flag_rl_actor: 1.0000
2025-09-24 02:53:18,098 - mmdet - INFO - Epoch [4][20/3517]	lr: 4.810e-05, eta: 16:26:52, time: 1.212, data_time: 0.337, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2108, debug_std_frame_0: 0.3289, debug_std_frame_1: 0.3574, debug_std_frame_2: 0.4028, debug_std_frame_3: 0.4481, debug_std_frame_4: 0.5140, debug_std_frame_5: 0.5708, loss_rl: -0.1662, loss_critic: 1.3031, loss_rl_bc: 0.0242, il_score: 0.6159, rl_score: 0.5955, prev_frame_loss_waypoint_0: 0.2335, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.6422, grad_norm: 63.7749
2025-09-24 02:53:34,970 - mmdet - INFO - Epoch [4][40/3517]	lr: 4.810e-05, eta: 16:26:42, time: 0.844, data_time: 0.014, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2939, debug_std_frame_0: 0.3562, debug_std_frame_1: 0.3899, debug_std_frame_2: 0.4358, debug_std_frame_3: 0.4806, debug_std_frame_4: 0.5370, debug_std_frame_5: 0.5934, loss_rl: -0.1312, loss_critic: 1.5791, loss_rl_bc: 0.0597, il_score: 0.5631, rl_score: 0.4963, prev_frame_loss_waypoint_0: 0.3326, prev_frame_loss_rl_bc_0: 0.0605, loss: 2.2019, grad_norm: 117.4943
2025-09-24 02:53:52,263 - mmdet - INFO - Epoch [4][60/3517]	lr: 4.810e-05, eta: 16:26:35, time: 0.864, data_time: 0.014, memory: 8550, loss_rec: 0.0069, loss_waypoint: 0.2749, debug_std_frame_0: 0.4593, debug_std_frame_1: 0.4891, debug_std_frame_2: 0.5297, debug_std_frame_3: 0.5716, debug_std_frame_4: 0.6225, debug_std_frame_5: 0.6700, loss_rl: -0.1036, loss_critic: 1.0396, loss_rl_bc: 0.0391, il_score: 0.5701, rl_score: 0.5453, prev_frame_loss_waypoint_0: 0.2901, prev_frame_loss_rl_bc_0: 0.0458, loss: 1.5927, grad_norm: 100.5488, il_score_sum: 58.4559, rl_score_sum: 56.8395, score_diff: 1.6164, il_win: 39.0000, rl_win: 29.0000
2025-09-24 02:54:08,767 - mmdet - INFO - Epoch [4][80/3517]	lr: 4.810e-05, eta: 16:26:22, time: 0.825, data_time: 0.015, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2407, debug_std_frame_0: 0.4194, debug_std_frame_1: 0.4476, debug_std_frame_2: 0.4871, debug_std_frame_3: 0.5274, debug_std_frame_4: 0.5880, debug_std_frame_5: 0.6366, loss_rl: -0.2219, loss_critic: 1.2397, loss_rl_bc: 0.0297, il_score: 0.5977, rl_score: 0.6053, prev_frame_loss_waypoint_0: 0.2441, prev_frame_loss_rl_bc_0: 0.0296, loss: 1.5693, grad_norm: 72.1774, il_score_sum: 58.4559, rl_score_sum: 56.8395, score_diff: 1.6164, il_win: 39.0000, rl_win: 29.0000
2025-09-24 02:54:25,422 - mmdet - INFO - Epoch [4][100/3517]	lr: 4.810e-05, eta: 16:26:10, time: 0.833, data_time: 0.015, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.3323, debug_std_frame_0: 0.3634, debug_std_frame_1: 0.3951, debug_std_frame_2: 0.4440, debug_std_frame_3: 0.4906, debug_std_frame_4: 0.5639, debug_std_frame_5: 0.6153, loss_rl: -0.1626, loss_critic: 1.3011, loss_rl_bc: 0.0262, il_score: 0.5178, rl_score: 0.6123, prev_frame_loss_waypoint_0: 0.3507, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.8837, grad_norm: 110.6082, il_score_sum: 58.4559, rl_score_sum: 56.8395, score_diff: 1.6164, il_win: 39.0000, rl_win: 29.0000
2025-09-24 02:54:42,159 - mmdet - INFO - Epoch [4][120/3517]	lr: 4.810e-05, eta: 16:25:59, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2254, debug_std_frame_0: 0.3294, debug_std_frame_1: 0.3592, debug_std_frame_2: 0.4083, debug_std_frame_3: 0.4542, debug_std_frame_4: 0.5265, debug_std_frame_5: 0.5827, loss_rl: -0.1676, loss_critic: 1.6513, loss_rl_bc: 0.0327, il_score: 0.5959, rl_score: 0.6038, prev_frame_loss_waypoint_0: 0.2429, prev_frame_loss_rl_bc_0: 0.0309, loss: 2.0236, grad_norm: 68.6812, il_score_sum: 58.4559, rl_score_sum: 56.8395, score_diff: 1.6164, il_win: 39.0000, rl_win: 29.0000
2025-09-24 02:54:58,751 - mmdet - INFO - Epoch [4][140/3517]	lr: 4.810e-05, eta: 16:25:47, time: 0.830, data_time: 0.015, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2211, debug_std_frame_0: 0.3162, debug_std_frame_1: 0.3456, debug_std_frame_2: 0.4010, debug_std_frame_3: 0.4509, debug_std_frame_4: 0.5273, debug_std_frame_5: 0.5903, loss_rl: -0.2461, loss_critic: 1.2256, loss_rl_bc: 0.0176, il_score: 0.6333, rl_score: 0.6608, prev_frame_loss_waypoint_0: 0.2435, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.4898, grad_norm: 58.2598, il_score_sum: 58.4559, rl_score_sum: 56.8395, score_diff: 1.6164, il_win: 39.0000, rl_win: 29.0000
2025-09-24 02:55:15,463 - mmdet - INFO - Epoch [4][160/3517]	lr: 4.810e-05, eta: 16:25:35, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2712, debug_std_frame_0: 0.3381, debug_std_frame_1: 0.3630, debug_std_frame_2: 0.4111, debug_std_frame_3: 0.4573, debug_std_frame_4: 0.5251, debug_std_frame_5: 0.5899, loss_rl: -0.1260, loss_critic: 1.5858, loss_rl_bc: 0.0897, il_score: 0.5792, rl_score: 0.5164, prev_frame_loss_waypoint_0: 0.2967, prev_frame_loss_rl_bc_0: 0.0864, loss: 2.2119, grad_norm: 123.9039, il_score_sum: 58.5667, rl_score_sum: 58.5131, score_diff: 0.0536, il_win: 39.0000, rl_win: 29.5000
2025-09-24 02:55:31,829 - mmdet - INFO - Epoch [4][180/3517]	lr: 4.810e-05, eta: 16:25:21, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2391, debug_std_frame_0: 0.4494, debug_std_frame_1: 0.4656, debug_std_frame_2: 0.4919, debug_std_frame_3: 0.5244, debug_std_frame_4: 0.5755, debug_std_frame_5: 0.6179, loss_rl: -0.1532, loss_critic: 1.5317, loss_rl_bc: 0.0419, il_score: 0.5880, rl_score: 0.5171, prev_frame_loss_waypoint_0: 0.2478, prev_frame_loss_rl_bc_0: 0.0443, loss: 1.9594, grad_norm: 64.3854, il_score_sum: 58.5667, rl_score_sum: 58.5131, score_diff: 0.0536, il_win: 39.0000, rl_win: 29.5000
2025-09-24 02:55:48,203 - mmdet - INFO - Epoch [4][200/3517]	lr: 4.810e-05, eta: 16:25:07, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2218, debug_std_frame_0: 0.4596, debug_std_frame_1: 0.4777, debug_std_frame_2: 0.5014, debug_std_frame_3: 0.5319, debug_std_frame_4: 0.5823, debug_std_frame_5: 0.6250, loss_rl: -0.2178, loss_critic: 1.4285, loss_rl_bc: 0.0308, il_score: 0.6061, rl_score: 0.6041, prev_frame_loss_waypoint_0: 0.2482, prev_frame_loss_rl_bc_0: 0.0355, loss: 1.7548, grad_norm: 60.0685, il_score_sum: 58.5667, rl_score_sum: 58.5131, score_diff: 0.0536, il_win: 39.0000, rl_win: 29.5000
2025-09-24 02:56:04,805 - mmdet - INFO - Epoch [4][220/3517]	lr: 4.810e-05, eta: 16:24:55, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2370, debug_std_frame_0: 0.4045, debug_std_frame_1: 0.4244, debug_std_frame_2: 0.4521, debug_std_frame_3: 0.4844, debug_std_frame_4: 0.5457, debug_std_frame_5: 0.5928, loss_rl: -0.1555, loss_critic: 1.2656, loss_rl_bc: 0.0316, il_score: 0.5869, rl_score: 0.5700, prev_frame_loss_waypoint_0: 0.2824, prev_frame_loss_rl_bc_0: 0.0363, loss: 1.7051, grad_norm: 98.8603, il_score_sum: 58.5667, rl_score_sum: 58.5131, score_diff: 0.0536, il_win: 39.0000, rl_win: 29.5000
2025-09-24 02:56:21,352 - mmdet - INFO - Epoch [4][240/3517]	lr: 4.810e-05, eta: 16:24:42, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2898, debug_std_frame_0: 0.4118, debug_std_frame_1: 0.4345, debug_std_frame_2: 0.4679, debug_std_frame_3: 0.5065, debug_std_frame_4: 0.5690, debug_std_frame_5: 0.6168, loss_rl: -0.1353, loss_critic: 1.3159, loss_rl_bc: 0.0446, il_score: 0.5827, rl_score: 0.5501, prev_frame_loss_waypoint_0: 0.2872, prev_frame_loss_rl_bc_0: 0.0397, loss: 1.8500, grad_norm: 111.0156, il_score_sum: 58.5667, rl_score_sum: 58.5131, score_diff: 0.0536, il_win: 39.0000, rl_win: 29.5000
2025-09-24 02:56:37,991 - mmdet - INFO - Epoch [4][260/3517]	lr: 4.810e-05, eta: 16:24:30, time: 0.831, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.3198, debug_std_frame_0: 0.4119, debug_std_frame_1: 0.4345, debug_std_frame_2: 0.4708, debug_std_frame_3: 0.5102, debug_std_frame_4: 0.5753, debug_std_frame_5: 0.6214, loss_rl: -0.1830, loss_critic: 1.3791, loss_rl_bc: 0.0295, il_score: 0.5162, rl_score: 0.5773, prev_frame_loss_waypoint_0: 0.3453, prev_frame_loss_rl_bc_0: 0.0310, loss: 1.9300, grad_norm: 82.2608, il_score_sum: 58.4428, rl_score_sum: 57.6456, score_diff: 0.7972, il_win: 39.3333, rl_win: 29.6667
2025-09-24 02:56:54,263 - mmdet - INFO - Epoch [4][280/3517]	lr: 4.810e-05, eta: 16:24:16, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2075, debug_std_frame_0: 0.3746, debug_std_frame_1: 0.3987, debug_std_frame_2: 0.4382, debug_std_frame_3: 0.4809, debug_std_frame_4: 0.5477, debug_std_frame_5: 0.5999, loss_rl: -0.2643, loss_critic: 1.5027, loss_rl_bc: 0.0207, il_score: 0.6061, rl_score: 0.6159, prev_frame_loss_waypoint_0: 0.2427, prev_frame_loss_rl_bc_0: 0.0256, loss: 1.7433, grad_norm: 65.2531, il_score_sum: 58.4428, rl_score_sum: 57.6456, score_diff: 0.7972, il_win: 39.3333, rl_win: 29.6667
2025-09-24 02:57:10,860 - mmdet - INFO - Epoch [4][300/3517]	lr: 4.810e-05, eta: 16:24:03, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2283, debug_std_frame_0: 0.3095, debug_std_frame_1: 0.3329, debug_std_frame_2: 0.3796, debug_std_frame_3: 0.4291, debug_std_frame_4: 0.4996, debug_std_frame_5: 0.5587, loss_rl: -0.1662, loss_critic: 1.4038, loss_rl_bc: 0.0241, il_score: 0.6030, rl_score: 0.5997, prev_frame_loss_waypoint_0: 0.2309, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.7507, grad_norm: 62.9674, il_score_sum: 58.4428, rl_score_sum: 57.6456, score_diff: 0.7972, il_win: 39.3333, rl_win: 29.6667
2025-09-24 02:57:27,027 - mmdet - INFO - Epoch [4][320/3517]	lr: 4.810e-05, eta: 16:23:48, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2204, debug_std_frame_0: 0.3089, debug_std_frame_1: 0.3313, debug_std_frame_2: 0.3745, debug_std_frame_3: 0.4231, debug_std_frame_4: 0.4911, debug_std_frame_5: 0.5509, loss_rl: -0.2115, loss_critic: 1.5534, loss_rl_bc: 0.0277, il_score: 0.6024, rl_score: 0.6015, prev_frame_loss_waypoint_0: 0.2445, prev_frame_loss_rl_bc_0: 0.0306, loss: 1.8730, grad_norm: 79.2302, il_score_sum: 58.4428, rl_score_sum: 57.6456, score_diff: 0.7972, il_win: 39.3333, rl_win: 29.6667
2025-09-24 02:57:43,277 - mmdet - INFO - Epoch [4][340/3517]	lr: 4.810e-05, eta: 16:23:33, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2390, debug_std_frame_0: 0.3446, debug_std_frame_1: 0.3728, debug_std_frame_2: 0.4236, debug_std_frame_3: 0.4807, debug_std_frame_4: 0.5442, debug_std_frame_5: 0.5968, loss_rl: -0.1810, loss_critic: 1.3013, loss_rl_bc: 0.0282, il_score: 0.5921, rl_score: 0.5979, prev_frame_loss_waypoint_0: 0.2679, prev_frame_loss_rl_bc_0: 0.0359, loss: 1.6991, grad_norm: 63.0489, il_score_sum: 58.4428, rl_score_sum: 57.6456, score_diff: 0.7972, il_win: 39.3333, rl_win: 29.6667
2025-09-24 02:57:59,637 - mmdet - INFO - Epoch [4][360/3517]	lr: 4.810e-05, eta: 16:23:19, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2419, debug_std_frame_0: 0.3425, debug_std_frame_1: 0.3723, debug_std_frame_2: 0.4246, debug_std_frame_3: 0.4817, debug_std_frame_4: 0.5397, debug_std_frame_5: 0.5899, loss_rl: -0.1600, loss_critic: 1.4068, loss_rl_bc: 0.0312, il_score: 0.5821, rl_score: 0.5802, prev_frame_loss_waypoint_0: 0.2504, prev_frame_loss_rl_bc_0: 0.0326, loss: 1.8101, grad_norm: 77.4099, il_score_sum: 58.5609, rl_score_sum: 58.1643, score_diff: 0.3966, il_win: 39.5000, rl_win: 29.7500
2025-09-24 02:58:15,890 - mmdet - INFO - Epoch [4][380/3517]	lr: 4.810e-05, eta: 16:23:05, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.1985, debug_std_frame_0: 0.3299, debug_std_frame_1: 0.3587, debug_std_frame_2: 0.4089, debug_std_frame_3: 0.4646, debug_std_frame_4: 0.5256, debug_std_frame_5: 0.5770, loss_rl: -0.1968, loss_critic: 1.4214, loss_rl_bc: 0.0204, il_score: 0.5880, rl_score: 0.5959, prev_frame_loss_waypoint_0: 0.2334, prev_frame_loss_rl_bc_0: 0.0256, loss: 1.7098, grad_norm: 50.5427, il_score_sum: 58.5609, rl_score_sum: 58.1643, score_diff: 0.3966, il_win: 39.5000, rl_win: 29.7500
2025-09-24 02:58:32,339 - mmdet - INFO - Epoch [4][400/3517]	lr: 4.810e-05, eta: 16:22:51, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2217, debug_std_frame_0: 0.2926, debug_std_frame_1: 0.3263, debug_std_frame_2: 0.3872, debug_std_frame_3: 0.4525, debug_std_frame_4: 0.5153, debug_std_frame_5: 0.5721, loss_rl: -0.2021, loss_critic: 1.3908, loss_rl_bc: 0.0241, il_score: 0.5880, rl_score: 0.5954, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.6915, grad_norm: 56.3528, il_score_sum: 58.5609, rl_score_sum: 58.1643, score_diff: 0.3966, il_win: 39.5000, rl_win: 29.7500
2025-09-24 02:58:48,478 - mmdet - INFO - Epoch [4][420/3517]	lr: 4.810e-05, eta: 16:22:36, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.1966, debug_std_frame_0: 0.3313, debug_std_frame_1: 0.3607, debug_std_frame_2: 0.4056, debug_std_frame_3: 0.4555, debug_std_frame_4: 0.5097, debug_std_frame_5: 0.5657, loss_rl: -0.1566, loss_critic: 1.2914, loss_rl_bc: 0.0372, il_score: 0.6304, rl_score: 0.5137, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0428, loss: 1.6292, grad_norm: 70.0207, il_score_sum: 58.5609, rl_score_sum: 58.1643, score_diff: 0.3966, il_win: 39.5000, rl_win: 29.7500
2025-09-24 02:59:04,531 - mmdet - INFO - Epoch [4][440/3517]	lr: 4.810e-05, eta: 16:22:20, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0070, loss_waypoint: 0.2210, debug_std_frame_0: 0.4152, debug_std_frame_1: 0.4431, debug_std_frame_2: 0.4804, debug_std_frame_3: 0.5272, debug_std_frame_4: 0.5783, debug_std_frame_5: 0.6260, loss_rl: -0.1506, loss_critic: 1.1999, loss_rl_bc: 0.0348, il_score: 0.6201, rl_score: 0.5486, prev_frame_loss_waypoint_0: 0.2316, prev_frame_loss_rl_bc_0: 0.0347, loss: 1.5784, grad_norm: 65.5254, il_score_sum: 58.5609, rl_score_sum: 58.1643, score_diff: 0.3966, il_win: 39.5000, rl_win: 29.7500
2025-09-24 02:59:20,941 - mmdet - INFO - Epoch [4][460/3517]	lr: 4.810e-05, eta: 16:22:06, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2189, debug_std_frame_0: 0.3713, debug_std_frame_1: 0.4016, debug_std_frame_2: 0.4441, debug_std_frame_3: 0.4946, debug_std_frame_4: 0.5491, debug_std_frame_5: 0.6027, loss_rl: -0.2089, loss_critic: 1.3870, loss_rl_bc: 0.0233, il_score: 0.6153, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2542, prev_frame_loss_rl_bc_0: 0.0294, loss: 1.7112, grad_norm: 67.3599, il_score_sum: 58.9307, rl_score_sum: 57.9203, score_diff: 1.0104, il_win: 39.8000, rl_win: 29.8000
2025-09-24 02:59:37,176 - mmdet - INFO - Epoch [4][480/3517]	lr: 4.810e-05, eta: 16:21:51, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2716, debug_std_frame_0: 0.3570, debug_std_frame_1: 0.3893, debug_std_frame_2: 0.4379, debug_std_frame_3: 0.4909, debug_std_frame_4: 0.5499, debug_std_frame_5: 0.6044, loss_rl: -0.1531, loss_critic: 1.4809, loss_rl_bc: 0.0371, il_score: 0.5469, rl_score: 0.5386, prev_frame_loss_waypoint_0: 0.2816, prev_frame_loss_rl_bc_0: 0.0444, loss: 1.9701, grad_norm: 92.8219, il_score_sum: 58.9307, rl_score_sum: 57.9203, score_diff: 1.0104, il_win: 39.8000, rl_win: 29.8000
2025-09-24 02:59:53,500 - mmdet - INFO - Epoch [4][500/3517]	lr: 4.810e-05, eta: 16:21:37, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2283, debug_std_frame_0: 0.3768, debug_std_frame_1: 0.4136, debug_std_frame_2: 0.4631, debug_std_frame_3: 0.5257, debug_std_frame_4: 0.5823, debug_std_frame_5: 0.6289, loss_rl: -0.0949, loss_critic: 1.4745, loss_rl_bc: 0.0461, il_score: 0.5896, rl_score: 0.5172, prev_frame_loss_waypoint_0: 0.2393, prev_frame_loss_rl_bc_0: 0.0529, loss: 1.9544, grad_norm: 79.6145, il_score_sum: 58.9307, rl_score_sum: 57.9203, score_diff: 1.0104, il_win: 39.8000, rl_win: 29.8000
2025-09-24 03:00:09,686 - mmdet - INFO - Epoch [4][520/3517]	lr: 4.810e-05, eta: 16:21:22, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2223, debug_std_frame_0: 0.4517, debug_std_frame_1: 0.4738, debug_std_frame_2: 0.5052, debug_std_frame_3: 0.5520, debug_std_frame_4: 0.5984, debug_std_frame_5: 0.6422, loss_rl: -0.1702, loss_critic: 1.3551, loss_rl_bc: 0.0283, il_score: 0.6109, rl_score: 0.5578, prev_frame_loss_waypoint_0: 0.2548, prev_frame_loss_rl_bc_0: 0.0373, loss: 1.7351, grad_norm: 68.7448, il_score_sum: 58.9307, rl_score_sum: 57.9203, score_diff: 1.0104, il_win: 39.8000, rl_win: 29.8000
2025-09-24 03:00:26,013 - mmdet - INFO - Epoch [4][540/3517]	lr: 4.810e-05, eta: 16:21:07, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2409, debug_std_frame_0: 0.4147, debug_std_frame_1: 0.4405, debug_std_frame_2: 0.4773, debug_std_frame_3: 0.5251, debug_std_frame_4: 0.5735, debug_std_frame_5: 0.6221, loss_rl: -0.1672, loss_critic: 1.2960, loss_rl_bc: 0.0287, il_score: 0.5536, rl_score: 0.5725, prev_frame_loss_waypoint_0: 0.2782, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.7153, grad_norm: 77.5807, il_score_sum: 58.9307, rl_score_sum: 57.9203, score_diff: 1.0104, il_win: 39.8000, rl_win: 29.8000
2025-09-24 03:00:42,540 - mmdet - INFO - Epoch [4][560/3517]	lr: 4.810e-05, eta: 16:20:54, time: 0.826, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2421, debug_std_frame_0: 0.3602, debug_std_frame_1: 0.3828, debug_std_frame_2: 0.4217, debug_std_frame_3: 0.4684, debug_std_frame_4: 0.5180, debug_std_frame_5: 0.5691, loss_rl: -0.2180, loss_critic: 1.0799, loss_rl_bc: 0.0229, il_score: 0.6085, rl_score: 0.6154, prev_frame_loss_waypoint_0: 0.2786, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.4357, grad_norm: 76.4631, il_score_sum: 58.8429, rl_score_sum: 57.6544, score_diff: 1.1886, il_win: 40.1667, rl_win: 29.8333
2025-09-24 03:00:58,734 - mmdet - INFO - Epoch [4][580/3517]	lr: 4.810e-05, eta: 16:20:39, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2630, debug_std_frame_0: 0.3320, debug_std_frame_1: 0.3587, debug_std_frame_2: 0.4083, debug_std_frame_3: 0.4659, debug_std_frame_4: 0.5230, debug_std_frame_5: 0.5812, loss_rl: -0.1518, loss_critic: 1.2180, loss_rl_bc: 0.0309, il_score: 0.5654, rl_score: 0.5613, prev_frame_loss_waypoint_0: 0.2798, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.6833, grad_norm: 75.0105, il_score_sum: 58.8429, rl_score_sum: 57.6544, score_diff: 1.1886, il_win: 40.1667, rl_win: 29.8333
2025-09-24 03:01:14,810 - mmdet - INFO - Epoch [4][600/3517]	lr: 4.810e-05, eta: 16:20:23, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2289, debug_std_frame_0: 0.3233, debug_std_frame_1: 0.3480, debug_std_frame_2: 0.3954, debug_std_frame_3: 0.4525, debug_std_frame_4: 0.5113, debug_std_frame_5: 0.5715, loss_rl: -0.2006, loss_critic: 1.3520, loss_rl_bc: 0.0349, il_score: 0.5818, rl_score: 0.5730, prev_frame_loss_waypoint_0: 0.2449, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.6987, grad_norm: 69.8100, il_score_sum: 58.8429, rl_score_sum: 57.6544, score_diff: 1.1886, il_win: 40.1667, rl_win: 29.8333
2025-09-24 03:01:31,278 - mmdet - INFO - Epoch [4][620/3517]	lr: 4.810e-05, eta: 16:20:10, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2939, debug_std_frame_0: 0.3273, debug_std_frame_1: 0.3582, debug_std_frame_2: 0.4137, debug_std_frame_3: 0.4826, debug_std_frame_4: 0.5437, debug_std_frame_5: 0.6036, loss_rl: -0.1619, loss_critic: 1.2489, loss_rl_bc: 0.0254, il_score: 0.5082, rl_score: 0.5686, prev_frame_loss_waypoint_0: 0.3129, prev_frame_loss_rl_bc_0: 0.0246, loss: 1.7512, grad_norm: 108.0549, il_score_sum: 58.8429, rl_score_sum: 57.6544, score_diff: 1.1886, il_win: 40.1667, rl_win: 29.8333
2025-09-24 03:01:47,378 - mmdet - INFO - Epoch [4][640/3517]	lr: 4.810e-05, eta: 16:19:54, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2296, debug_std_frame_0: 0.3202, debug_std_frame_1: 0.3470, debug_std_frame_2: 0.3981, debug_std_frame_3: 0.4552, debug_std_frame_4: 0.5126, debug_std_frame_5: 0.5710, loss_rl: -0.1919, loss_critic: 1.1437, loss_rl_bc: 0.0209, il_score: 0.6244, rl_score: 0.6432, prev_frame_loss_waypoint_0: 0.2475, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.4809, grad_norm: 72.0854, il_score_sum: 58.8429, rl_score_sum: 57.6544, score_diff: 1.1886, il_win: 40.1667, rl_win: 29.8333
2025-09-24 03:02:03,798 - mmdet - INFO - Epoch [4][660/3517]	lr: 4.810e-05, eta: 16:19:40, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2399, debug_std_frame_0: 0.2938, debug_std_frame_1: 0.3228, debug_std_frame_2: 0.3776, debug_std_frame_3: 0.4397, debug_std_frame_4: 0.4952, debug_std_frame_5: 0.5560, loss_rl: -0.1582, loss_critic: 1.3044, loss_rl_bc: 0.0336, il_score: 0.5593, rl_score: 0.5530, prev_frame_loss_waypoint_0: 0.2629, prev_frame_loss_rl_bc_0: 0.0364, loss: 1.7276, grad_norm: 92.3657, il_score_sum: 58.5881, rl_score_sum: 57.8121, score_diff: 0.7760, il_win: 40.4286, rl_win: 30.0000
2025-09-24 03:02:19,951 - mmdet - INFO - Epoch [4][680/3517]	lr: 4.810e-05, eta: 16:19:25, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2039, debug_std_frame_0: 0.3861, debug_std_frame_1: 0.4128, debug_std_frame_2: 0.4544, debug_std_frame_3: 0.5028, debug_std_frame_4: 0.5460, debug_std_frame_5: 0.5939, loss_rl: -0.1636, loss_critic: 1.5142, loss_rl_bc: 0.0355, il_score: 0.6272, rl_score: 0.5549, prev_frame_loss_waypoint_0: 0.2178, prev_frame_loss_rl_bc_0: 0.0444, loss: 1.8602, grad_norm: 78.3624, il_score_sum: 58.5881, rl_score_sum: 57.8121, score_diff: 0.7760, il_win: 40.4286, rl_win: 30.0000
2025-09-24 03:02:36,255 - mmdet - INFO - Epoch [4][700/3517]	lr: 4.810e-05, eta: 16:19:10, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2276, debug_std_frame_0: 0.4079, debug_std_frame_1: 0.4361, debug_std_frame_2: 0.4725, debug_std_frame_3: 0.5203, debug_std_frame_4: 0.5590, debug_std_frame_5: 0.6025, loss_rl: -0.2220, loss_critic: 1.6191, loss_rl_bc: 0.0294, il_score: 0.6041, rl_score: 0.5911, prev_frame_loss_waypoint_0: 0.2660, prev_frame_loss_rl_bc_0: 0.0326, loss: 1.9605, grad_norm: 76.5686, il_score_sum: 58.5881, rl_score_sum: 57.8121, score_diff: 0.7760, il_win: 40.4286, rl_win: 30.0000
2025-09-24 03:02:52,476 - mmdet - INFO - Epoch [4][720/3517]	lr: 4.810e-05, eta: 16:18:55, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2088, debug_std_frame_0: 0.3933, debug_std_frame_1: 0.4149, debug_std_frame_2: 0.4495, debug_std_frame_3: 0.4913, debug_std_frame_4: 0.5368, debug_std_frame_5: 0.5874, loss_rl: -0.1943, loss_critic: 1.5887, loss_rl_bc: 0.0309, il_score: 0.6155, rl_score: 0.5819, prev_frame_loss_waypoint_0: 0.2426, prev_frame_loss_rl_bc_0: 0.0352, loss: 1.9194, grad_norm: 70.0813, il_score_sum: 58.5881, rl_score_sum: 57.8121, score_diff: 0.7760, il_win: 40.4286, rl_win: 30.0000
2025-09-24 03:03:08,654 - mmdet - INFO - Epoch [4][740/3517]	lr: 4.810e-05, eta: 16:18:40, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2156, debug_std_frame_0: 0.3259, debug_std_frame_1: 0.3521, debug_std_frame_2: 0.3938, debug_std_frame_3: 0.4445, debug_std_frame_4: 0.4968, debug_std_frame_5: 0.5541, loss_rl: -0.2243, loss_critic: 1.4040, loss_rl_bc: 0.0169, il_score: 0.6068, rl_score: 0.6375, prev_frame_loss_waypoint_0: 0.2514, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.6936, grad_norm: 89.4398, il_score_sum: 58.5881, rl_score_sum: 57.8121, score_diff: 0.7760, il_win: 40.4286, rl_win: 30.0000
2025-09-24 03:03:24,743 - mmdet - INFO - Epoch [4][760/3517]	lr: 4.810e-05, eta: 16:18:24, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0069, loss_waypoint: 0.2549, debug_std_frame_0: 0.3013, debug_std_frame_1: 0.3295, debug_std_frame_2: 0.3791, debug_std_frame_3: 0.4335, debug_std_frame_4: 0.4931, debug_std_frame_5: 0.5549, loss_rl: -0.1972, loss_critic: 1.2175, loss_rl_bc: 0.0223, il_score: 0.5809, rl_score: 0.6034, prev_frame_loss_waypoint_0: 0.2756, prev_frame_loss_rl_bc_0: 0.0254, loss: 1.6054, grad_norm: 86.6209, il_score_sum: 58.8337, rl_score_sum: 57.9367, score_diff: 0.8969, il_win: 40.7500, rl_win: 30.1250
2025-09-24 03:03:40,812 - mmdet - INFO - Epoch [4][780/3517]	lr: 4.810e-05, eta: 16:18:08, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2273, debug_std_frame_0: 0.2703, debug_std_frame_1: 0.2972, debug_std_frame_2: 0.3468, debug_std_frame_3: 0.4014, debug_std_frame_4: 0.4581, debug_std_frame_5: 0.5169, loss_rl: -0.2166, loss_critic: 1.4630, loss_rl_bc: 0.0284, il_score: 0.5841, rl_score: 0.5976, prev_frame_loss_waypoint_0: 0.2257, prev_frame_loss_rl_bc_0: 0.0245, loss: 1.7600, grad_norm: 79.4335, il_score_sum: 58.8337, rl_score_sum: 57.9367, score_diff: 0.8969, il_win: 40.7500, rl_win: 30.1250
2025-09-24 03:03:56,897 - mmdet - INFO - Epoch [4][800/3517]	lr: 4.810e-05, eta: 16:17:52, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.1998, debug_std_frame_0: 0.3646, debug_std_frame_1: 0.3986, debug_std_frame_2: 0.4508, debug_std_frame_3: 0.5085, debug_std_frame_4: 0.5669, debug_std_frame_5: 0.6224, loss_rl: -0.1527, loss_critic: 1.4897, loss_rl_bc: 0.0334, il_score: 0.5964, rl_score: 0.5442, prev_frame_loss_waypoint_0: 0.2355, prev_frame_loss_rl_bc_0: 0.0489, loss: 1.8623, grad_norm: 50.5197, il_score_sum: 58.8337, rl_score_sum: 57.9367, score_diff: 0.8969, il_win: 40.7500, rl_win: 30.1250
2025-09-24 03:04:13,189 - mmdet - INFO - Epoch [4][820/3517]	lr: 4.810e-05, eta: 16:17:38, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2470, debug_std_frame_0: 0.3978, debug_std_frame_1: 0.4225, debug_std_frame_2: 0.4612, debug_std_frame_3: 0.5077, debug_std_frame_4: 0.5572, debug_std_frame_5: 0.6025, loss_rl: -0.1129, loss_critic: 1.3888, loss_rl_bc: 0.0566, il_score: 0.5990, rl_score: 0.5171, prev_frame_loss_waypoint_0: 0.2456, prev_frame_loss_rl_bc_0: 0.0533, loss: 1.8864, grad_norm: 67.3234, il_score_sum: 58.8337, rl_score_sum: 57.9367, score_diff: 0.8969, il_win: 40.7500, rl_win: 30.1250
2025-09-24 03:04:29,180 - mmdet - INFO - Epoch [4][840/3517]	lr: 4.810e-05, eta: 16:17:21, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2396, debug_std_frame_0: 0.4666, debug_std_frame_1: 0.4888, debug_std_frame_2: 0.5226, debug_std_frame_3: 0.5683, debug_std_frame_4: 0.6195, debug_std_frame_5: 0.6606, loss_rl: -0.1759, loss_critic: 1.2753, loss_rl_bc: 0.0373, il_score: 0.6064, rl_score: 0.5558, prev_frame_loss_waypoint_0: 0.2585, prev_frame_loss_rl_bc_0: 0.0397, loss: 1.6823, grad_norm: 72.2170, il_score_sum: 58.8337, rl_score_sum: 57.9367, score_diff: 0.8969, il_win: 40.7500, rl_win: 30.1250
2025-09-24 03:04:45,452 - mmdet - INFO - Epoch [4][860/3517]	lr: 4.810e-05, eta: 16:17:06, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2712, debug_std_frame_0: 0.4559, debug_std_frame_1: 0.4738, debug_std_frame_2: 0.5042, debug_std_frame_3: 0.5454, debug_std_frame_4: 0.5940, debug_std_frame_5: 0.6380, loss_rl: -0.1866, loss_critic: 1.3181, loss_rl_bc: 0.0290, il_score: 0.5382, rl_score: 0.5750, prev_frame_loss_waypoint_0: 0.2790, prev_frame_loss_rl_bc_0: 0.0349, loss: 1.7532, grad_norm: 83.9734, il_score_sum: 58.7931, rl_score_sum: 57.6812, score_diff: 1.1119, il_win: 41.1111, rl_win: 30.2222
2025-09-24 03:05:01,401 - mmdet - INFO - Epoch [4][880/3517]	lr: 4.810e-05, eta: 16:16:50, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2434, debug_std_frame_0: 0.4175, debug_std_frame_1: 0.4374, debug_std_frame_2: 0.4709, debug_std_frame_3: 0.5083, debug_std_frame_4: 0.5538, debug_std_frame_5: 0.6000, loss_rl: -0.2021, loss_critic: 1.3579, loss_rl_bc: 0.0320, il_score: 0.5851, rl_score: 0.5943, prev_frame_loss_waypoint_0: 0.2801, prev_frame_loss_rl_bc_0: 0.0321, loss: 1.7515, grad_norm: 96.8628, il_score_sum: 58.7931, rl_score_sum: 57.6812, score_diff: 1.1119, il_win: 41.1111, rl_win: 30.2222
2025-09-24 03:05:17,376 - mmdet - INFO - Epoch [4][900/3517]	lr: 4.810e-05, eta: 16:16:33, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2418, debug_std_frame_0: 0.3781, debug_std_frame_1: 0.4002, debug_std_frame_2: 0.4367, debug_std_frame_3: 0.4763, debug_std_frame_4: 0.5355, debug_std_frame_5: 0.5874, loss_rl: -0.1785, loss_critic: 1.4062, loss_rl_bc: 0.0255, il_score: 0.5940, rl_score: 0.5910, prev_frame_loss_waypoint_0: 0.2732, prev_frame_loss_rl_bc_0: 0.0313, loss: 1.8070, grad_norm: 90.8762, il_score_sum: 58.7931, rl_score_sum: 57.6812, score_diff: 1.1119, il_win: 41.1111, rl_win: 30.2222
2025-09-24 03:05:33,282 - mmdet - INFO - Epoch [4][920/3517]	lr: 4.810e-05, eta: 16:16:16, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.2113, debug_std_frame_0: 0.3674, debug_std_frame_1: 0.3927, debug_std_frame_2: 0.4329, debug_std_frame_3: 0.4778, debug_std_frame_4: 0.5464, debug_std_frame_5: 0.5990, loss_rl: -0.1027, loss_critic: 1.4012, loss_rl_bc: 0.0456, il_score: 0.6145, rl_score: 0.5160, prev_frame_loss_waypoint_0: 0.2162, prev_frame_loss_rl_bc_0: 0.0452, loss: 1.8242, grad_norm: 62.3217, il_score_sum: 58.7931, rl_score_sum: 57.6812, score_diff: 1.1119, il_win: 41.1111, rl_win: 30.2222
2025-09-24 03:05:49,495 - mmdet - INFO - Epoch [4][940/3517]	lr: 4.810e-05, eta: 16:16:01, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2409, debug_std_frame_0: 0.4258, debug_std_frame_1: 0.4509, debug_std_frame_2: 0.4897, debug_std_frame_3: 0.5335, debug_std_frame_4: 0.5982, debug_std_frame_5: 0.6449, loss_rl: -0.1522, loss_critic: 1.3549, loss_rl_bc: 0.0369, il_score: 0.5648, rl_score: 0.5225, prev_frame_loss_waypoint_0: 0.2486, prev_frame_loss_rl_bc_0: 0.0369, loss: 1.7737, grad_norm: 70.9598, il_score_sum: 58.7931, rl_score_sum: 57.6812, score_diff: 1.1119, il_win: 41.1111, rl_win: 30.2222
2025-09-24 03:06:05,620 - mmdet - INFO - Epoch [4][960/3517]	lr: 4.810e-05, eta: 16:15:45, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2116, debug_std_frame_0: 0.3842, debug_std_frame_1: 0.4079, debug_std_frame_2: 0.4484, debug_std_frame_3: 0.4917, debug_std_frame_4: 0.5654, debug_std_frame_5: 0.6098, loss_rl: -0.1902, loss_critic: 1.4686, loss_rl_bc: 0.0258, il_score: 0.6037, rl_score: 0.5877, prev_frame_loss_waypoint_0: 0.2284, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.7792, grad_norm: 69.0527, il_score_sum: 58.7865, rl_score_sum: 57.5162, score_diff: 1.2703, il_win: 41.5000, rl_win: 30.3000
2025-09-24 03:06:21,510 - mmdet - INFO - Epoch [4][980/3517]	lr: 4.810e-05, eta: 16:15:28, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2079, debug_std_frame_0: 0.3609, debug_std_frame_1: 0.3912, debug_std_frame_2: 0.4387, debug_std_frame_3: 0.4840, debug_std_frame_4: 0.5534, debug_std_frame_5: 0.6006, loss_rl: -0.1763, loss_critic: 1.3392, loss_rl_bc: 0.0303, il_score: 0.5931, rl_score: 0.5747, prev_frame_loss_waypoint_0: 0.2235, prev_frame_loss_rl_bc_0: 0.0328, loss: 1.6651, grad_norm: 54.5723, il_score_sum: 58.7865, rl_score_sum: 57.5162, score_diff: 1.2703, il_win: 41.5000, rl_win: 30.3000
2025-09-24 03:06:37,514 - mmdet - INFO - Epoch [4][1000/3517]	lr: 4.810e-05, eta: 16:15:12, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2394, debug_std_frame_0: 0.3458, debug_std_frame_1: 0.3792, debug_std_frame_2: 0.4280, debug_std_frame_3: 0.4725, debug_std_frame_4: 0.5400, debug_std_frame_5: 0.5904, loss_rl: -0.1983, loss_critic: 1.1835, loss_rl_bc: 0.0285, il_score: 0.5984, rl_score: 0.6037, prev_frame_loss_waypoint_0: 0.2488, prev_frame_loss_rl_bc_0: 0.0254, loss: 1.5351, grad_norm: 65.2111, il_score_sum: 58.7865, rl_score_sum: 57.5162, score_diff: 1.2703, il_win: 41.5000, rl_win: 30.3000
2025-09-24 03:06:53,940 - mmdet - INFO - Epoch [4][1020/3517]	lr: 4.810e-05, eta: 16:14:58, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2265, debug_std_frame_0: 0.2985, debug_std_frame_1: 0.3324, debug_std_frame_2: 0.3833, debug_std_frame_3: 0.4287, debug_std_frame_4: 0.4906, debug_std_frame_5: 0.5447, loss_rl: -0.2204, loss_critic: 1.1674, loss_rl_bc: 0.0202, il_score: 0.5915, rl_score: 0.6210, prev_frame_loss_waypoint_0: 0.2366, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.4617, grad_norm: 61.0971, il_score_sum: 58.7865, rl_score_sum: 57.5162, score_diff: 1.2703, il_win: 41.5000, rl_win: 30.3000
2025-09-24 03:07:10,043 - mmdet - INFO - Epoch [4][1040/3517]	lr: 4.810e-05, eta: 16:14:42, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2348, debug_std_frame_0: 0.3059, debug_std_frame_1: 0.3434, debug_std_frame_2: 0.4026, debug_std_frame_3: 0.4550, debug_std_frame_4: 0.5235, debug_std_frame_5: 0.5782, loss_rl: -0.1437, loss_critic: 1.2686, loss_rl_bc: 0.0440, il_score: 0.6090, rl_score: 0.5486, prev_frame_loss_waypoint_0: 0.2715, prev_frame_loss_rl_bc_0: 0.0517, loss: 1.7347, grad_norm: 90.3018, il_score_sum: 58.7865, rl_score_sum: 57.5162, score_diff: 1.2703, il_win: 41.5000, rl_win: 30.3000
2025-09-24 03:07:26,285 - mmdet - INFO - Epoch [4][1060/3517]	lr: 4.810e-05, eta: 16:14:27, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2654, debug_std_frame_0: 0.4024, debug_std_frame_1: 0.4381, debug_std_frame_2: 0.4893, debug_std_frame_3: 0.5377, debug_std_frame_4: 0.6069, debug_std_frame_5: 0.6524, loss_rl: -0.1513, loss_critic: 1.0154, loss_rl_bc: 0.0317, il_score: 0.5827, rl_score: 0.5710, prev_frame_loss_waypoint_0: 0.2818, prev_frame_loss_rl_bc_0: 0.0360, loss: 1.4867, grad_norm: 101.1465, il_score_sum: 58.8712, rl_score_sum: 57.5985, score_diff: 1.2727, il_win: 41.9091, rl_win: 30.3636
2025-09-24 03:07:42,263 - mmdet - INFO - Epoch [4][1080/3517]	lr: 4.810e-05, eta: 16:14:10, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2266, debug_std_frame_0: 0.3748, debug_std_frame_1: 0.4038, debug_std_frame_2: 0.4473, debug_std_frame_3: 0.4873, debug_std_frame_4: 0.5509, debug_std_frame_5: 0.5945, loss_rl: -0.2065, loss_critic: 1.1987, loss_rl_bc: 0.0219, il_score: 0.5374, rl_score: 0.5718, prev_frame_loss_waypoint_0: 0.2769, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.5548, grad_norm: 73.4986, il_score_sum: 58.8712, rl_score_sum: 57.5985, score_diff: 1.2727, il_win: 41.9091, rl_win: 30.3636
2025-09-24 03:07:58,584 - mmdet - INFO - Epoch [4][1100/3517]	lr: 4.810e-05, eta: 16:13:56, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2232, debug_std_frame_0: 0.3653, debug_std_frame_1: 0.3959, debug_std_frame_2: 0.4457, debug_std_frame_3: 0.4937, debug_std_frame_4: 0.5662, debug_std_frame_5: 0.6180, loss_rl: -0.1972, loss_critic: 1.2567, loss_rl_bc: 0.0283, il_score: 0.6082, rl_score: 0.6074, prev_frame_loss_waypoint_0: 0.2441, prev_frame_loss_rl_bc_0: 0.0349, loss: 1.5981, grad_norm: 62.0130, il_score_sum: 58.8712, rl_score_sum: 57.5985, score_diff: 1.2727, il_win: 41.9091, rl_win: 30.3636
2025-09-24 03:08:14,854 - mmdet - INFO - Epoch [4][1120/3517]	lr: 4.810e-05, eta: 16:13:41, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2873, debug_std_frame_0: 0.3340, debug_std_frame_1: 0.3665, debug_std_frame_2: 0.4168, debug_std_frame_3: 0.4656, debug_std_frame_4: 0.5462, debug_std_frame_5: 0.5994, loss_rl: -0.1552, loss_critic: 1.2668, loss_rl_bc: 0.0347, il_score: 0.5673, rl_score: 0.5661, prev_frame_loss_waypoint_0: 0.2927, prev_frame_loss_rl_bc_0: 0.0366, loss: 1.7717, grad_norm: 95.7806, il_score_sum: 58.8712, rl_score_sum: 57.5985, score_diff: 1.2727, il_win: 41.9091, rl_win: 30.3636
2025-09-24 03:08:30,945 - mmdet - INFO - Epoch [4][1140/3517]	lr: 4.810e-05, eta: 16:13:25, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2392, debug_std_frame_0: 0.3499, debug_std_frame_1: 0.3801, debug_std_frame_2: 0.4270, debug_std_frame_3: 0.4739, debug_std_frame_4: 0.5511, debug_std_frame_5: 0.6084, loss_rl: -0.1730, loss_critic: 1.5864, loss_rl_bc: 0.0295, il_score: 0.5836, rl_score: 0.5816, prev_frame_loss_waypoint_0: 0.2646, prev_frame_loss_rl_bc_0: 0.0357, loss: 1.9905, grad_norm: 57.6662, il_score_sum: 58.8712, rl_score_sum: 57.5985, score_diff: 1.2727, il_win: 41.9091, rl_win: 30.3636
2025-09-24 03:08:47,054 - mmdet - INFO - Epoch [4][1160/3517]	lr: 4.810e-05, eta: 16:13:10, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2283, debug_std_frame_0: 0.3380, debug_std_frame_1: 0.3638, debug_std_frame_2: 0.4060, debug_std_frame_3: 0.4487, debug_std_frame_4: 0.5151, debug_std_frame_5: 0.5765, loss_rl: -0.2823, loss_critic: 1.6360, loss_rl_bc: 0.0187, il_score: 0.5955, rl_score: 0.6372, prev_frame_loss_waypoint_0: 0.2313, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.8601, grad_norm: 83.9795, il_score_sum: 58.8229, rl_score_sum: 57.7162, score_diff: 1.1066, il_win: 42.2500, rl_win: 30.4167
2025-09-24 03:09:03,193 - mmdet - INFO - Epoch [4][1180/3517]	lr: 4.810e-05, eta: 16:12:54, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2151, debug_std_frame_0: 0.2839, debug_std_frame_1: 0.3094, debug_std_frame_2: 0.3552, debug_std_frame_3: 0.3990, debug_std_frame_4: 0.4571, debug_std_frame_5: 0.5200, loss_rl: -0.2944, loss_critic: 1.2690, loss_rl_bc: 0.0131, il_score: 0.6190, rl_score: 0.6627, prev_frame_loss_waypoint_0: 0.2283, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.4565, grad_norm: 75.6480, il_score_sum: 58.8229, rl_score_sum: 57.7162, score_diff: 1.1066, il_win: 42.2500, rl_win: 30.4167
2025-09-24 03:09:19,460 - mmdet - INFO - Epoch [4][1200/3517]	lr: 4.810e-05, eta: 16:12:39, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2352, debug_std_frame_0: 0.2906, debug_std_frame_1: 0.3205, debug_std_frame_2: 0.3733, debug_std_frame_3: 0.4213, debug_std_frame_4: 0.4838, debug_std_frame_5: 0.5501, loss_rl: -0.1804, loss_critic: 1.4910, loss_rl_bc: 0.0358, il_score: 0.6081, rl_score: 0.5762, prev_frame_loss_waypoint_0: 0.2741, prev_frame_loss_rl_bc_0: 0.0820, loss: 1.9462, grad_norm: 76.7371, il_score_sum: 58.8229, rl_score_sum: 57.7162, score_diff: 1.1066, il_win: 42.2500, rl_win: 30.4167
2025-09-24 03:09:35,394 - mmdet - INFO - Epoch [4][1220/3517]	lr: 4.810e-05, eta: 16:12:22, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2327, debug_std_frame_0: 0.3806, debug_std_frame_1: 0.4260, debug_std_frame_2: 0.4987, debug_std_frame_3: 0.5603, debug_std_frame_4: 0.6187, debug_std_frame_5: 0.6699, loss_rl: -0.0890, loss_critic: 1.4538, loss_rl_bc: 0.0477, il_score: 0.5765, rl_score: 0.4868, prev_frame_loss_waypoint_0: 0.2460, prev_frame_loss_rl_bc_0: 0.0505, loss: 1.9494, grad_norm: 73.4554, il_score_sum: 58.8229, rl_score_sum: 57.7162, score_diff: 1.1066, il_win: 42.2500, rl_win: 30.4167
2025-09-24 03:09:51,400 - mmdet - INFO - Epoch [4][1240/3517]	lr: 4.810e-05, eta: 16:12:06, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2498, debug_std_frame_0: 0.4742, debug_std_frame_1: 0.5094, debug_std_frame_2: 0.5669, debug_std_frame_3: 0.6219, debug_std_frame_4: 0.6683, debug_std_frame_5: 0.7091, loss_rl: -0.2126, loss_critic: 1.5539, loss_rl_bc: 0.0336, il_score: 0.5921, rl_score: 0.6078, prev_frame_loss_waypoint_0: 0.2603, prev_frame_loss_rl_bc_0: 0.0337, loss: 1.9264, grad_norm: 90.6801, il_score_sum: 58.8229, rl_score_sum: 57.7162, score_diff: 1.1066, il_win: 42.2500, rl_win: 30.4167
2025-09-24 03:10:07,637 - mmdet - INFO - Epoch [4][1260/3517]	lr: 4.810e-05, eta: 16:11:51, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2217, debug_std_frame_0: 0.4041, debug_std_frame_1: 0.4306, debug_std_frame_2: 0.4917, debug_std_frame_3: 0.5543, debug_std_frame_4: 0.6008, debug_std_frame_5: 0.6469, loss_rl: -0.2318, loss_critic: 1.4667, loss_rl_bc: 0.0249, il_score: 0.5407, rl_score: 0.5775, prev_frame_loss_waypoint_0: 0.2405, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.7548, grad_norm: 68.8419, il_score_sum: 58.8448, rl_score_sum: 57.8031, score_diff: 1.0417, il_win: 42.5385, rl_win: 30.4615
2025-09-24 03:10:23,564 - mmdet - INFO - Epoch [4][1280/3517]	lr: 4.810e-05, eta: 16:11:34, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0074, loss_waypoint: 0.3521, debug_std_frame_0: 0.3669, debug_std_frame_1: 0.3881, debug_std_frame_2: 0.4372, debug_std_frame_3: 0.4980, debug_std_frame_4: 0.5505, debug_std_frame_5: 0.6044, loss_rl: -0.1871, loss_critic: 1.5266, loss_rl_bc: 0.0645, il_score: 0.4756, rl_score: 0.5569, prev_frame_loss_waypoint_0: 0.3611, prev_frame_loss_rl_bc_0: 0.0609, loss: 2.1856, grad_norm: 125.1754, il_score_sum: 58.8448, rl_score_sum: 57.8031, score_diff: 1.0417, il_win: 42.5385, rl_win: 30.4615
2025-09-24 03:10:39,487 - mmdet - INFO - Epoch [4][1300/3517]	lr: 4.810e-05, eta: 16:11:17, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2294, debug_std_frame_0: 0.3234, debug_std_frame_1: 0.3524, debug_std_frame_2: 0.4284, debug_std_frame_3: 0.4982, debug_std_frame_4: 0.5480, debug_std_frame_5: 0.6002, loss_rl: -0.1770, loss_critic: 1.3666, loss_rl_bc: 0.0271, il_score: 0.6017, rl_score: 0.5877, prev_frame_loss_waypoint_0: 0.2470, prev_frame_loss_rl_bc_0: 0.0331, loss: 1.7343, grad_norm: 59.0484, il_score_sum: 58.8448, rl_score_sum: 57.8031, score_diff: 1.0417, il_win: 42.5385, rl_win: 30.4615
2025-09-24 03:10:55,458 - mmdet - INFO - Epoch [4][1320/3517]	lr: 4.810e-05, eta: 16:11:00, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.3107, debug_std_frame_0: 0.3498, debug_std_frame_1: 0.3705, debug_std_frame_2: 0.4299, debug_std_frame_3: 0.4954, debug_std_frame_4: 0.5467, debug_std_frame_5: 0.5999, loss_rl: -0.1603, loss_critic: 1.2234, loss_rl_bc: 0.0349, il_score: 0.5688, rl_score: 0.5971, prev_frame_loss_waypoint_0: 0.3211, prev_frame_loss_rl_bc_0: 0.0386, loss: 1.7762, grad_norm: 116.7605, il_score_sum: 58.8448, rl_score_sum: 57.8031, score_diff: 1.0417, il_win: 42.5385, rl_win: 30.4615
2025-09-24 03:11:11,555 - mmdet - INFO - Epoch [4][1340/3517]	lr: 4.810e-05, eta: 16:10:45, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2164, debug_std_frame_0: 0.3283, debug_std_frame_1: 0.3492, debug_std_frame_2: 0.3930, debug_std_frame_3: 0.4560, debug_std_frame_4: 0.5056, debug_std_frame_5: 0.5605, loss_rl: -0.2277, loss_critic: 1.5501, loss_rl_bc: 0.0245, il_score: 0.6211, rl_score: 0.6128, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.8117, grad_norm: 63.7025, il_score_sum: 58.8448, rl_score_sum: 57.8031, score_diff: 1.0417, il_win: 42.5385, rl_win: 30.4615
2025-09-24 03:11:27,746 - mmdet - INFO - Epoch [4][1360/3517]	lr: 4.810e-05, eta: 16:10:29, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2967, debug_std_frame_0: 0.2924, debug_std_frame_1: 0.3188, debug_std_frame_2: 0.3758, debug_std_frame_3: 0.4440, debug_std_frame_4: 0.4972, debug_std_frame_5: 0.5561, loss_rl: -0.1599, loss_critic: 1.2180, loss_rl_bc: 0.0248, il_score: 0.5108, rl_score: 0.5958, prev_frame_loss_waypoint_0: 0.3151, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.7284, grad_norm: 113.1855, il_score_sum: 58.6201, rl_score_sum: 57.8559, score_diff: 0.7641, il_win: 42.7857, rl_win: 30.5714
2025-09-24 03:11:43,611 - mmdet - INFO - Epoch [4][1380/3517]	lr: 4.810e-05, eta: 16:10:12, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2358, debug_std_frame_0: 0.2948, debug_std_frame_1: 0.3203, debug_std_frame_2: 0.3722, debug_std_frame_3: 0.4352, debug_std_frame_4: 0.4894, debug_std_frame_5: 0.5466, loss_rl: -0.1675, loss_critic: 1.3181, loss_rl_bc: 0.0281, il_score: 0.5854, rl_score: 0.5929, prev_frame_loss_waypoint_0: 0.2622, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.7145, grad_norm: 62.2146, il_score_sum: 58.6201, rl_score_sum: 57.8559, score_diff: 0.7641, il_win: 42.7857, rl_win: 30.5714
2025-09-24 03:11:59,835 - mmdet - INFO - Epoch [4][1400/3517]	lr: 4.810e-05, eta: 16:09:57, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2279, debug_std_frame_0: 0.3036, debug_std_frame_1: 0.3345, debug_std_frame_2: 0.3878, debug_std_frame_3: 0.4548, debug_std_frame_4: 0.5132, debug_std_frame_5: 0.5742, loss_rl: -0.1819, loss_critic: 1.4232, loss_rl_bc: 0.0249, il_score: 0.6324, rl_score: 0.6065, prev_frame_loss_waypoint_0: 0.2347, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.7646, grad_norm: 77.9394, il_score_sum: 58.6201, rl_score_sum: 57.8559, score_diff: 0.7641, il_win: 42.7857, rl_win: 30.5714
2025-09-24 03:12:16,092 - mmdet - INFO - Epoch [4][1420/3517]	lr: 4.810e-05, eta: 16:09:42, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2372, debug_std_frame_0: 0.2999, debug_std_frame_1: 0.3347, debug_std_frame_2: 0.3873, debug_std_frame_3: 0.4507, debug_std_frame_4: 0.5095, debug_std_frame_5: 0.5701, loss_rl: -0.1454, loss_critic: 1.2760, loss_rl_bc: 0.0283, il_score: 0.5801, rl_score: 0.5674, prev_frame_loss_waypoint_0: 0.2465, prev_frame_loss_rl_bc_0: 0.0341, loss: 1.6848, grad_norm: 77.9740, il_score_sum: 58.6201, rl_score_sum: 57.8559, score_diff: 0.7641, il_win: 42.7857, rl_win: 30.5714
2025-09-24 03:12:32,153 - mmdet - INFO - Epoch [4][1440/3517]	lr: 4.810e-05, eta: 16:09:26, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2554, debug_std_frame_0: 0.3267, debug_std_frame_1: 0.3609, debug_std_frame_2: 0.4116, debug_std_frame_3: 0.4674, debug_std_frame_4: 0.5218, debug_std_frame_5: 0.5809, loss_rl: -0.1754, loss_critic: 1.4564, loss_rl_bc: 0.0399, il_score: 0.6022, rl_score: 0.5895, prev_frame_loss_waypoint_0: 0.2679, prev_frame_loss_rl_bc_0: 0.0349, loss: 1.8873, grad_norm: 69.3887, il_score_sum: 58.6201, rl_score_sum: 57.8559, score_diff: 0.7641, il_win: 42.7857, rl_win: 30.5714
2025-09-24 03:12:48,232 - mmdet - INFO - Epoch [4][1460/3517]	lr: 4.810e-05, eta: 16:09:10, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2793, debug_std_frame_0: 0.3087, debug_std_frame_1: 0.3413, debug_std_frame_2: 0.3870, debug_std_frame_3: 0.4393, debug_std_frame_4: 0.4967, debug_std_frame_5: 0.5503, loss_rl: -0.1172, loss_critic: 1.1487, loss_rl_bc: 0.0330, il_score: 0.5912, rl_score: 0.5908, prev_frame_loss_waypoint_0: 0.2821, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.6697, grad_norm: 93.0276, il_score_sum: 58.6248, rl_score_sum: 57.9248, score_diff: 0.7000, il_win: 43.0000, rl_win: 30.6667
2025-09-24 03:13:04,315 - mmdet - INFO - Epoch [4][1480/3517]	lr: 4.810e-05, eta: 16:08:54, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.3138, debug_std_frame_0: 0.3617, debug_std_frame_1: 0.3954, debug_std_frame_2: 0.4398, debug_std_frame_3: 0.4870, debug_std_frame_4: 0.5451, debug_std_frame_5: 0.5927, loss_rl: -0.0793, loss_critic: 1.2223, loss_rl_bc: 0.0430, il_score: 0.4902, rl_score: 0.5118, prev_frame_loss_waypoint_0: 0.3404, prev_frame_loss_rl_bc_0: 0.0453, loss: 1.8931, grad_norm: 117.3533, il_score_sum: 58.6248, rl_score_sum: 57.9248, score_diff: 0.7000, il_win: 43.0000, rl_win: 30.6667
2025-09-24 03:13:20,460 - mmdet - INFO - Epoch [4][1500/3517]	lr: 4.810e-05, eta: 16:08:38, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2555, debug_std_frame_0: 0.3667, debug_std_frame_1: 0.4015, debug_std_frame_2: 0.4462, debug_std_frame_3: 0.4984, debug_std_frame_4: 0.5574, debug_std_frame_5: 0.6043, loss_rl: -0.1659, loss_critic: 1.2389, loss_rl_bc: 0.0316, il_score: 0.5717, rl_score: 0.5817, prev_frame_loss_waypoint_0: 0.2725, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.6733, grad_norm: 67.4253, il_score_sum: 58.6248, rl_score_sum: 57.9248, score_diff: 0.7000, il_win: 43.0000, rl_win: 30.6667
2025-09-24 03:13:36,563 - mmdet - INFO - Epoch [4][1520/3517]	lr: 4.810e-05, eta: 16:08:23, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2558, debug_std_frame_0: 0.3709, debug_std_frame_1: 0.4020, debug_std_frame_2: 0.4411, debug_std_frame_3: 0.4904, debug_std_frame_4: 0.5505, debug_std_frame_5: 0.5987, loss_rl: -0.1682, loss_critic: 1.3431, loss_rl_bc: 0.0336, il_score: 0.5759, rl_score: 0.5905, prev_frame_loss_waypoint_0: 0.2713, prev_frame_loss_rl_bc_0: 0.0346, loss: 1.7784, grad_norm: 88.1065, il_score_sum: 58.6248, rl_score_sum: 57.9248, score_diff: 0.7000, il_win: 43.0000, rl_win: 30.6667
2025-09-24 03:13:52,598 - mmdet - INFO - Epoch [4][1540/3517]	lr: 4.810e-05, eta: 16:08:06, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2258, debug_std_frame_0: 0.3454, debug_std_frame_1: 0.3737, debug_std_frame_2: 0.4140, debug_std_frame_3: 0.4677, debug_std_frame_4: 0.5267, debug_std_frame_5: 0.5794, loss_rl: -0.2039, loss_critic: 1.3952, loss_rl_bc: 0.0252, il_score: 0.5983, rl_score: 0.6004, prev_frame_loss_waypoint_0: 0.2452, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.7213, grad_norm: 76.4555, il_score_sum: 58.6248, rl_score_sum: 57.9248, score_diff: 0.7000, il_win: 43.0000, rl_win: 30.6667
2025-09-24 03:14:08,770 - mmdet - INFO - Epoch [4][1560/3517]	lr: 4.810e-05, eta: 16:07:51, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2199, debug_std_frame_0: 0.3186, debug_std_frame_1: 0.3450, debug_std_frame_2: 0.3877, debug_std_frame_3: 0.4390, debug_std_frame_4: 0.4942, debug_std_frame_5: 0.5526, loss_rl: -0.2415, loss_critic: 1.4444, loss_rl_bc: 0.0173, il_score: 0.5835, rl_score: 0.6182, prev_frame_loss_waypoint_0: 0.2276, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.6959, grad_norm: 73.9648, il_score_sum: 58.5190, rl_score_sum: 57.9378, score_diff: 0.5811, il_win: 43.1875, rl_win: 30.8125
2025-09-24 03:14:25,115 - mmdet - INFO - Epoch [4][1580/3517]	lr: 4.810e-05, eta: 16:07:36, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2466, debug_std_frame_0: 0.2794, debug_std_frame_1: 0.3084, debug_std_frame_2: 0.3592, debug_std_frame_3: 0.4165, debug_std_frame_4: 0.4757, debug_std_frame_5: 0.5356, loss_rl: -0.2093, loss_critic: 1.4091, loss_rl_bc: 0.0250, il_score: 0.5749, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2721, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.7796, grad_norm: 76.2850, il_score_sum: 58.5190, rl_score_sum: 57.9378, score_diff: 0.5811, il_win: 43.1875, rl_win: 30.8125
2025-09-24 03:14:41,381 - mmdet - INFO - Epoch [4][1600/3517]	lr: 4.810e-05, eta: 16:07:22, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2372, debug_std_frame_0: 0.2929, debug_std_frame_1: 0.3287, debug_std_frame_2: 0.3897, debug_std_frame_3: 0.4566, debug_std_frame_4: 0.5176, debug_std_frame_5: 0.5757, loss_rl: -0.1850, loss_critic: 1.3451, loss_rl_bc: 0.0229, il_score: 0.5597, rl_score: 0.5677, prev_frame_loss_waypoint_0: 0.2768, prev_frame_loss_rl_bc_0: 0.0295, loss: 1.7344, grad_norm: 75.7169, il_score_sum: 58.5190, rl_score_sum: 57.9378, score_diff: 0.5811, il_win: 43.1875, rl_win: 30.8125
2025-09-24 03:14:57,404 - mmdet - INFO - Epoch [4][1620/3517]	lr: 4.810e-05, eta: 16:07:05, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2166, debug_std_frame_0: 0.2957, debug_std_frame_1: 0.3257, debug_std_frame_2: 0.3784, debug_std_frame_3: 0.4404, debug_std_frame_4: 0.5023, debug_std_frame_5: 0.5622, loss_rl: -0.2280, loss_critic: 1.4231, loss_rl_bc: 0.0202, il_score: 0.6032, rl_score: 0.6110, prev_frame_loss_waypoint_0: 0.2467, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.7086, grad_norm: 71.4396, il_score_sum: 58.5190, rl_score_sum: 57.9378, score_diff: 0.5811, il_win: 43.1875, rl_win: 30.8125
2025-09-24 03:15:13,415 - mmdet - INFO - Epoch [4][1640/3517]	lr: 4.810e-05, eta: 16:06:49, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2181, debug_std_frame_0: 0.2655, debug_std_frame_1: 0.3027, debug_std_frame_2: 0.3564, debug_std_frame_3: 0.4232, debug_std_frame_4: 0.4885, debug_std_frame_5: 0.5502, loss_rl: -0.2030, loss_critic: 1.2108, loss_rl_bc: 0.0247, il_score: 0.6270, rl_score: 0.6391, prev_frame_loss_waypoint_0: 0.2394, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.5231, grad_norm: 65.7244, il_score_sum: 58.5190, rl_score_sum: 57.9378, score_diff: 0.5811, il_win: 43.1875, rl_win: 30.8125
2025-09-24 03:15:29,653 - mmdet - INFO - Epoch [4][1660/3517]	lr: 4.810e-05, eta: 16:06:34, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2127, debug_std_frame_0: 0.2636, debug_std_frame_1: 0.3008, debug_std_frame_2: 0.3530, debug_std_frame_3: 0.4105, debug_std_frame_4: 0.4667, debug_std_frame_5: 0.5287, loss_rl: -0.2032, loss_critic: 1.3127, loss_rl_bc: 0.0193, il_score: 0.5959, rl_score: 0.6155, prev_frame_loss_waypoint_0: 0.2344, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.6032, grad_norm: 75.3477, il_score_sum: 58.5632, rl_score_sum: 58.1112, score_diff: 0.4519, il_win: 43.3529, rl_win: 31.0000
2025-09-24 03:15:45,707 - mmdet - INFO - Epoch [4][1680/3517]	lr: 4.810e-05, eta: 16:06:18, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2377, debug_std_frame_0: 0.2617, debug_std_frame_1: 0.3018, debug_std_frame_2: 0.3548, debug_std_frame_3: 0.4148, debug_std_frame_4: 0.4717, debug_std_frame_5: 0.5282, loss_rl: -0.2256, loss_critic: 1.5155, loss_rl_bc: 0.0283, il_score: 0.5970, rl_score: 0.6397, prev_frame_loss_waypoint_0: 0.2551, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.8441, grad_norm: 88.0345, il_score_sum: 58.5632, rl_score_sum: 58.1112, score_diff: 0.4519, il_win: 43.3529, rl_win: 31.0000
2025-09-24 03:16:01,584 - mmdet - INFO - Epoch [4][1700/3517]	lr: 4.810e-05, eta: 16:06:01, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2173, debug_std_frame_0: 0.2786, debug_std_frame_1: 0.3181, debug_std_frame_2: 0.3689, debug_std_frame_3: 0.4250, debug_std_frame_4: 0.4792, debug_std_frame_5: 0.5356, loss_rl: -0.2460, loss_critic: 1.4160, loss_rl_bc: 0.0192, il_score: 0.5939, rl_score: 0.6315, prev_frame_loss_waypoint_0: 0.2272, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.6616, grad_norm: 67.6302, il_score_sum: 58.5632, rl_score_sum: 58.1112, score_diff: 0.4519, il_win: 43.3529, rl_win: 31.0000
2025-09-24 03:16:17,610 - mmdet - INFO - Epoch [4][1720/3517]	lr: 4.810e-05, eta: 16:05:44, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2141, debug_std_frame_0: 0.2799, debug_std_frame_1: 0.3162, debug_std_frame_2: 0.3667, debug_std_frame_3: 0.4243, debug_std_frame_4: 0.4760, debug_std_frame_5: 0.5348, loss_rl: -0.1476, loss_critic: 1.4510, loss_rl_bc: 0.0239, il_score: 0.5929, rl_score: 0.5797, prev_frame_loss_waypoint_0: 0.2230, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.8039, grad_norm: 68.9361, il_score_sum: 58.5632, rl_score_sum: 58.1112, score_diff: 0.4519, il_win: 43.3529, rl_win: 31.0000
2025-09-24 03:16:33,509 - mmdet - INFO - Epoch [4][1740/3517]	lr: 4.810e-05, eta: 16:05:27, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2640, debug_std_frame_0: 0.3421, debug_std_frame_1: 0.3870, debug_std_frame_2: 0.4413, debug_std_frame_3: 0.5088, debug_std_frame_4: 0.5650, debug_std_frame_5: 0.6235, loss_rl: -0.1129, loss_critic: 1.1769, loss_rl_bc: 0.0372, il_score: 0.5386, rl_score: 0.5379, prev_frame_loss_waypoint_0: 0.2884, prev_frame_loss_rl_bc_0: 0.0454, loss: 1.7070, grad_norm: 79.9086, il_score_sum: 58.5632, rl_score_sum: 58.1112, score_diff: 0.4519, il_win: 43.3529, rl_win: 31.0000
2025-09-24 03:16:49,808 - mmdet - INFO - Epoch [4][1760/3517]	lr: 4.810e-05, eta: 16:05:12, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2313, debug_std_frame_0: 0.3630, debug_std_frame_1: 0.3978, debug_std_frame_2: 0.4429, debug_std_frame_3: 0.5076, debug_std_frame_4: 0.5653, debug_std_frame_5: 0.6180, loss_rl: -0.2008, loss_critic: 1.1334, loss_rl_bc: 0.0214, il_score: 0.5585, rl_score: 0.6193, prev_frame_loss_waypoint_0: 0.2679, prev_frame_loss_rl_bc_0: 0.0278, loss: 1.4889, grad_norm: 89.8784, il_score_sum: 58.4912, rl_score_sum: 58.2050, score_diff: 0.2862, il_win: 43.5000, rl_win: 31.2222
2025-09-24 03:17:05,793 - mmdet - INFO - Epoch [4][1780/3517]	lr: 4.810e-05, eta: 16:04:56, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2113, debug_std_frame_0: 0.3020, debug_std_frame_1: 0.3367, debug_std_frame_2: 0.3880, debug_std_frame_3: 0.4587, debug_std_frame_4: 0.5215, debug_std_frame_5: 0.5802, loss_rl: -0.2010, loss_critic: 1.0300, loss_rl_bc: 0.0185, il_score: 0.6124, rl_score: 0.6398, prev_frame_loss_waypoint_0: 0.2258, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.3136, grad_norm: 69.2404, il_score_sum: 58.4912, rl_score_sum: 58.2050, score_diff: 0.2862, il_win: 43.5000, rl_win: 31.2222
2025-09-24 03:17:21,755 - mmdet - INFO - Epoch [4][1800/3517]	lr: 4.810e-05, eta: 16:04:39, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2442, debug_std_frame_0: 0.2831, debug_std_frame_1: 0.3152, debug_std_frame_2: 0.3703, debug_std_frame_3: 0.4365, debug_std_frame_4: 0.5007, debug_std_frame_5: 0.5630, loss_rl: -0.1852, loss_critic: 1.5090, loss_rl_bc: 0.0448, il_score: 0.6074, rl_score: 0.5605, prev_frame_loss_waypoint_0: 0.2739, prev_frame_loss_rl_bc_0: 0.0426, loss: 1.9375, grad_norm: 94.3581, il_score_sum: 58.4912, rl_score_sum: 58.2050, score_diff: 0.2862, il_win: 43.5000, rl_win: 31.2222
2025-09-24 03:17:38,031 - mmdet - INFO - Epoch [4][1820/3517]	lr: 4.810e-05, eta: 16:04:24, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2468, debug_std_frame_0: 0.3373, debug_std_frame_1: 0.3720, debug_std_frame_2: 0.4182, debug_std_frame_3: 0.4715, debug_std_frame_4: 0.5251, debug_std_frame_5: 0.5762, loss_rl: -0.1749, loss_critic: 1.5022, loss_rl_bc: 0.0314, il_score: 0.5853, rl_score: 0.5651, prev_frame_loss_waypoint_0: 0.2668, prev_frame_loss_rl_bc_0: 0.0302, loss: 1.9103, grad_norm: 82.6157, il_score_sum: 58.4912, rl_score_sum: 58.2050, score_diff: 0.2862, il_win: 43.5000, rl_win: 31.2222
2025-09-24 03:17:54,041 - mmdet - INFO - Epoch [4][1840/3517]	lr: 4.810e-05, eta: 16:04:08, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2899, debug_std_frame_0: 0.3620, debug_std_frame_1: 0.4052, debug_std_frame_2: 0.4615, debug_std_frame_3: 0.5213, debug_std_frame_4: 0.5728, debug_std_frame_5: 0.6175, loss_rl: -0.1121, loss_critic: 1.2277, loss_rl_bc: 0.0437, il_score: 0.5221, rl_score: 0.5154, prev_frame_loss_waypoint_0: 0.3050, prev_frame_loss_rl_bc_0: 0.0451, loss: 1.8071, grad_norm: 120.5289, il_score_sum: 58.4912, rl_score_sum: 58.2050, score_diff: 0.2862, il_win: 43.5000, rl_win: 31.2222
2025-09-24 03:18:10,075 - mmdet - INFO - Epoch [4][1860/3517]	lr: 4.810e-05, eta: 16:03:52, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.3068, debug_std_frame_0: 0.4133, debug_std_frame_1: 0.4472, debug_std_frame_2: 0.4903, debug_std_frame_3: 0.5476, debug_std_frame_4: 0.6008, debug_std_frame_5: 0.6393, loss_rl: -0.1758, loss_critic: 1.3962, loss_rl_bc: 0.0410, il_score: 0.5652, rl_score: 0.5749, prev_frame_loss_waypoint_0: 0.3005, prev_frame_loss_rl_bc_0: 0.0402, loss: 1.9165, grad_norm: 101.7566, il_score_sum: 58.4836, rl_score_sum: 58.1527, score_diff: 0.3308, il_win: 43.6842, rl_win: 31.4211
2025-09-24 03:18:26,275 - mmdet - INFO - Epoch [4][1880/3517]	lr: 4.810e-05, eta: 16:03:37, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2611, debug_std_frame_0: 0.4098, debug_std_frame_1: 0.4369, debug_std_frame_2: 0.4716, debug_std_frame_3: 0.5233, debug_std_frame_4: 0.5774, debug_std_frame_5: 0.6185, loss_rl: -0.2217, loss_critic: 1.3627, loss_rl_bc: 0.0283, il_score: 0.5700, rl_score: 0.5860, prev_frame_loss_waypoint_0: 0.2489, prev_frame_loss_rl_bc_0: 0.0290, loss: 1.7156, grad_norm: 73.5309, il_score_sum: 58.4836, rl_score_sum: 58.1527, score_diff: 0.3308, il_win: 43.6842, rl_win: 31.4211
2025-09-24 03:18:42,391 - mmdet - INFO - Epoch [4][1900/3517]	lr: 4.810e-05, eta: 16:03:21, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2827, debug_std_frame_0: 0.3631, debug_std_frame_1: 0.3972, debug_std_frame_2: 0.4403, debug_std_frame_3: 0.4992, debug_std_frame_4: 0.5613, debug_std_frame_5: 0.6078, loss_rl: -0.1744, loss_critic: 1.3223, loss_rl_bc: 0.0294, il_score: 0.5194, rl_score: 0.5853, prev_frame_loss_waypoint_0: 0.3006, prev_frame_loss_rl_bc_0: 0.0296, loss: 1.7980, grad_norm: 78.9454, il_score_sum: 58.4836, rl_score_sum: 58.1527, score_diff: 0.3308, il_win: 43.6842, rl_win: 31.4211
2025-09-24 03:18:58,459 - mmdet - INFO - Epoch [4][1920/3517]	lr: 4.810e-05, eta: 16:03:05, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2136, debug_std_frame_0: 0.3089, debug_std_frame_1: 0.3397, debug_std_frame_2: 0.3843, debug_std_frame_3: 0.4421, debug_std_frame_4: 0.5033, debug_std_frame_5: 0.5613, loss_rl: -0.1957, loss_critic: 1.5417, loss_rl_bc: 0.0223, il_score: 0.5917, rl_score: 0.5954, prev_frame_loss_waypoint_0: 0.2456, prev_frame_loss_rl_bc_0: 0.0264, loss: 1.8617, grad_norm: 75.5026, il_score_sum: 58.4836, rl_score_sum: 58.1527, score_diff: 0.3308, il_win: 43.6842, rl_win: 31.4211
2025-09-24 03:19:14,331 - mmdet - INFO - Epoch [4][1940/3517]	lr: 4.810e-05, eta: 16:02:48, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2381, debug_std_frame_0: 0.3067, debug_std_frame_1: 0.3354, debug_std_frame_2: 0.3805, debug_std_frame_3: 0.4349, debug_std_frame_4: 0.4923, debug_std_frame_5: 0.5476, loss_rl: -0.1407, loss_critic: 1.6142, loss_rl_bc: 0.0283, il_score: 0.5919, rl_score: 0.5584, prev_frame_loss_waypoint_0: 0.2592, prev_frame_loss_rl_bc_0: 0.0319, loss: 2.0383, grad_norm: 89.4522, il_score_sum: 58.4836, rl_score_sum: 58.1527, score_diff: 0.3308, il_win: 43.6842, rl_win: 31.4211
2025-09-24 03:19:30,649 - mmdet - INFO - Epoch [4][1960/3517]	lr: 4.810e-05, eta: 16:02:33, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2719, debug_std_frame_0: 0.3096, debug_std_frame_1: 0.3363, debug_std_frame_2: 0.3823, debug_std_frame_3: 0.4393, debug_std_frame_4: 0.4935, debug_std_frame_5: 0.5462, loss_rl: -0.1695, loss_critic: 1.4035, loss_rl_bc: 0.0337, il_score: 0.5826, rl_score: 0.5863, prev_frame_loss_waypoint_0: 0.3109, prev_frame_loss_rl_bc_0: 0.0427, loss: 1.9015, grad_norm: 80.4763, il_score_sum: 58.4074, rl_score_sum: 58.1918, score_diff: 0.2156, il_win: 43.8500, rl_win: 31.6500
2025-09-24 03:19:46,809 - mmdet - INFO - Epoch [4][1980/3517]	lr: 4.810e-05, eta: 16:02:17, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2445, debug_std_frame_0: 0.3871, debug_std_frame_1: 0.4124, debug_std_frame_2: 0.4598, debug_std_frame_3: 0.5165, debug_std_frame_4: 0.5746, debug_std_frame_5: 0.6202, loss_rl: -0.1265, loss_critic: 1.2920, loss_rl_bc: 0.0374, il_score: 0.5757, rl_score: 0.5419, prev_frame_loss_waypoint_0: 0.2543, prev_frame_loss_rl_bc_0: 0.0374, loss: 1.7470, grad_norm: 66.9394, il_score_sum: 58.4074, rl_score_sum: 58.1918, score_diff: 0.2156, il_win: 43.8500, rl_win: 31.6500
2025-09-24 03:20:02,851 - mmdet - INFO - Epoch [4][2000/3517]	lr: 4.810e-05, eta: 16:02:01, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2363, debug_std_frame_0: 0.3703, debug_std_frame_1: 0.3961, debug_std_frame_2: 0.4421, debug_std_frame_3: 0.5008, debug_std_frame_4: 0.5584, debug_std_frame_5: 0.6015, loss_rl: -0.1639, loss_critic: 1.3105, loss_rl_bc: 0.0316, il_score: 0.5622, rl_score: 0.5683, prev_frame_loss_waypoint_0: 0.2514, prev_frame_loss_rl_bc_0: 0.0328, loss: 1.7063, grad_norm: 70.8122, il_score_sum: 58.4074, rl_score_sum: 58.1918, score_diff: 0.2156, il_win: 43.8500, rl_win: 31.6500
2025-09-24 03:20:18,749 - mmdet - INFO - Epoch [4][2020/3517]	lr: 4.810e-05, eta: 16:01:44, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2878, debug_std_frame_0: 0.3284, debug_std_frame_1: 0.3539, debug_std_frame_2: 0.3967, debug_std_frame_3: 0.4511, debug_std_frame_4: 0.5133, debug_std_frame_5: 0.5631, loss_rl: -0.1482, loss_critic: 1.1180, loss_rl_bc: 0.0321, il_score: 0.5449, rl_score: 0.5586, prev_frame_loss_waypoint_0: 0.3020, prev_frame_loss_rl_bc_0: 0.0345, loss: 1.6338, grad_norm: 96.2737, il_score_sum: 58.4074, rl_score_sum: 58.1918, score_diff: 0.2156, il_win: 43.8500, rl_win: 31.6500
2025-09-24 03:20:34,902 - mmdet - INFO - Epoch [4][2040/3517]	lr: 4.810e-05, eta: 16:01:29, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2589, debug_std_frame_0: 0.3493, debug_std_frame_1: 0.3787, debug_std_frame_2: 0.4208, debug_std_frame_3: 0.4742, debug_std_frame_4: 0.5379, debug_std_frame_5: 0.5863, loss_rl: -0.1244, loss_critic: 1.2056, loss_rl_bc: 0.0331, il_score: 0.5961, rl_score: 0.5775, prev_frame_loss_waypoint_0: 0.2788, prev_frame_loss_rl_bc_0: 0.0348, loss: 1.6942, grad_norm: 84.3381, il_score_sum: 58.4074, rl_score_sum: 58.1918, score_diff: 0.2156, il_win: 43.8500, rl_win: 31.6500
2025-09-24 03:20:51,170 - mmdet - INFO - Epoch [4][2060/3517]	lr: 4.810e-05, eta: 16:01:14, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2434, debug_std_frame_0: 0.3568, debug_std_frame_1: 0.3857, debug_std_frame_2: 0.4293, debug_std_frame_3: 0.4810, debug_std_frame_4: 0.5426, debug_std_frame_5: 0.5919, loss_rl: -0.2308, loss_critic: 1.1358, loss_rl_bc: 0.0264, il_score: 0.6198, rl_score: 0.6303, prev_frame_loss_waypoint_0: 0.2627, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.4740, grad_norm: 68.1109, il_score_sum: 58.3354, rl_score_sum: 58.1811, score_diff: 0.1543, il_win: 44.2500, rl_win: 32.0000
2025-09-24 03:21:07,157 - mmdet - INFO - Epoch [4][2080/3517]	lr: 4.810e-05, eta: 16:00:57, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2514, debug_std_frame_0: 0.3556, debug_std_frame_1: 0.3884, debug_std_frame_2: 0.4322, debug_std_frame_3: 0.4872, debug_std_frame_4: 0.5455, debug_std_frame_5: 0.5916, loss_rl: -0.1952, loss_critic: 1.3424, loss_rl_bc: 0.0366, il_score: 0.6166, rl_score: 0.5712, prev_frame_loss_waypoint_0: 0.2602, prev_frame_loss_rl_bc_0: 0.0393, loss: 1.7427, grad_norm: 80.5538, il_score_sum: 58.3354, rl_score_sum: 58.1811, score_diff: 0.1543, il_win: 44.2500, rl_win: 32.0000
2025-09-24 03:21:23,150 - mmdet - INFO - Epoch [4][2100/3517]	lr: 4.810e-05, eta: 16:00:41, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2295, debug_std_frame_0: 0.3934, debug_std_frame_1: 0.4198, debug_std_frame_2: 0.4521, debug_std_frame_3: 0.5000, debug_std_frame_4: 0.5534, debug_std_frame_5: 0.5955, loss_rl: -0.2274, loss_critic: 1.3470, loss_rl_bc: 0.0329, il_score: 0.6028, rl_score: 0.5948, prev_frame_loss_waypoint_0: 0.2587, prev_frame_loss_rl_bc_0: 0.0301, loss: 1.6789, grad_norm: 77.5047, il_score_sum: 58.3354, rl_score_sum: 58.1811, score_diff: 0.1543, il_win: 44.2500, rl_win: 32.0000
2025-09-24 03:21:39,033 - mmdet - INFO - Epoch [4][2120/3517]	lr: 4.810e-05, eta: 16:00:24, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2285, debug_std_frame_0: 0.3459, debug_std_frame_1: 0.3734, debug_std_frame_2: 0.4093, debug_std_frame_3: 0.4583, debug_std_frame_4: 0.5100, debug_std_frame_5: 0.5619, loss_rl: -0.2482, loss_critic: 1.2565, loss_rl_bc: 0.0173, il_score: 0.5940, rl_score: 0.6380, prev_frame_loss_waypoint_0: 0.2475, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.5266, grad_norm: 99.2431, il_score_sum: 58.3354, rl_score_sum: 58.1811, score_diff: 0.1543, il_win: 44.2500, rl_win: 32.0000
2025-09-24 03:21:54,944 - mmdet - INFO - Epoch [4][2140/3517]	lr: 4.810e-05, eta: 16:00:07, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2695, debug_std_frame_0: 0.3061, debug_std_frame_1: 0.3363, debug_std_frame_2: 0.3802, debug_std_frame_3: 0.4363, debug_std_frame_4: 0.4975, debug_std_frame_5: 0.5562, loss_rl: -0.1966, loss_critic: 1.3865, loss_rl_bc: 0.0266, il_score: 0.5461, rl_score: 0.5965, prev_frame_loss_waypoint_0: 0.2846, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.8090, grad_norm: 96.6989, il_score_sum: 58.3354, rl_score_sum: 58.1811, score_diff: 0.1543, il_win: 44.2500, rl_win: 32.0000
2025-09-24 03:22:11,044 - mmdet - INFO - Epoch [4][2160/3517]	lr: 4.810e-05, eta: 15:59:51, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.3092, debug_std_frame_0: 0.3043, debug_std_frame_1: 0.3375, debug_std_frame_2: 0.3900, debug_std_frame_3: 0.4533, debug_std_frame_4: 0.5262, debug_std_frame_5: 0.5852, loss_rl: -0.1630, loss_critic: 1.0864, loss_rl_bc: 0.0231, il_score: 0.5252, rl_score: 0.5891, prev_frame_loss_waypoint_0: 0.3304, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.6184, grad_norm: 103.9317, il_score_sum: 58.3299, rl_score_sum: 58.1829, score_diff: 0.1470, il_win: 44.6500, rl_win: 32.3500
2025-09-24 03:22:27,085 - mmdet - INFO - Epoch [4][2180/3517]	lr: 4.810e-05, eta: 15:59:35, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2333, debug_std_frame_0: 0.2862, debug_std_frame_1: 0.3151, debug_std_frame_2: 0.3590, debug_std_frame_3: 0.4171, debug_std_frame_4: 0.4878, debug_std_frame_5: 0.5466, loss_rl: -0.1648, loss_critic: 1.6141, loss_rl_bc: 0.0207, il_score: 0.5820, rl_score: 0.5935, prev_frame_loss_waypoint_0: 0.2571, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.9895, grad_norm: 70.1982, il_score_sum: 58.3299, rl_score_sum: 58.1829, score_diff: 0.1470, il_win: 44.6500, rl_win: 32.3500
2025-09-24 03:22:43,228 - mmdet - INFO - Epoch [4][2200/3517]	lr: 4.810e-05, eta: 15:59:19, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2120, debug_std_frame_0: 0.2766, debug_std_frame_1: 0.3036, debug_std_frame_2: 0.3486, debug_std_frame_3: 0.4064, debug_std_frame_4: 0.4831, debug_std_frame_5: 0.5449, loss_rl: -0.1723, loss_critic: 1.4894, loss_rl_bc: 0.0268, il_score: 0.6236, rl_score: 0.5981, prev_frame_loss_waypoint_0: 0.2407, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.8319, grad_norm: 58.9176, il_score_sum: 58.3299, rl_score_sum: 58.1829, score_diff: 0.1470, il_win: 44.6500, rl_win: 32.3500
2025-09-24 03:22:59,204 - mmdet - INFO - Epoch [4][2220/3517]	lr: 4.810e-05, eta: 15:59:02, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2121, debug_std_frame_0: 0.3134, debug_std_frame_1: 0.3428, debug_std_frame_2: 0.3815, debug_std_frame_3: 0.4295, debug_std_frame_4: 0.5037, debug_std_frame_5: 0.5548, loss_rl: -0.1560, loss_critic: 1.3539, loss_rl_bc: 0.0285, il_score: 0.5861, rl_score: 0.5813, prev_frame_loss_waypoint_0: 0.2273, prev_frame_loss_rl_bc_0: 0.0329, loss: 1.7073, grad_norm: 78.5057, il_score_sum: 58.3299, rl_score_sum: 58.1829, score_diff: 0.1470, il_win: 44.6500, rl_win: 32.3500
2025-09-24 03:23:15,276 - mmdet - INFO - Epoch [4][2240/3517]	lr: 4.810e-05, eta: 15:58:46, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2054, debug_std_frame_0: 0.3658, debug_std_frame_1: 0.3983, debug_std_frame_2: 0.4389, debug_std_frame_3: 0.4859, debug_std_frame_4: 0.5512, debug_std_frame_5: 0.6007, loss_rl: -0.2332, loss_critic: 1.3525, loss_rl_bc: 0.0270, il_score: 0.6253, rl_score: 0.6122, prev_frame_loss_waypoint_0: 0.2344, prev_frame_loss_rl_bc_0: 0.0304, loss: 1.6249, grad_norm: 64.4037, il_score_sum: 58.3299, rl_score_sum: 58.1829, score_diff: 0.1470, il_win: 44.6500, rl_win: 32.3500
2025-09-24 03:23:31,457 - mmdet - INFO - Epoch [4][2260/3517]	lr: 4.810e-05, eta: 15:58:31, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2226, debug_std_frame_0: 0.3345, debug_std_frame_1: 0.3660, debug_std_frame_2: 0.4076, debug_std_frame_3: 0.4603, debug_std_frame_4: 0.5252, debug_std_frame_5: 0.5814, loss_rl: -0.2256, loss_critic: 1.3471, loss_rl_bc: 0.0200, il_score: 0.5797, rl_score: 0.6457, prev_frame_loss_waypoint_0: 0.2376, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.6363, grad_norm: 53.7501, il_score_sum: 58.4112, rl_score_sum: 58.3760, score_diff: 0.0353, il_win: 45.0000, rl_win: 32.7000
2025-09-24 03:23:47,469 - mmdet - INFO - Epoch [4][2280/3517]	lr: 4.810e-05, eta: 15:58:15, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2659, debug_std_frame_0: 0.2950, debug_std_frame_1: 0.3237, debug_std_frame_2: 0.3689, debug_std_frame_3: 0.4244, debug_std_frame_4: 0.4878, debug_std_frame_5: 0.5486, loss_rl: -0.1791, loss_critic: 1.3077, loss_rl_bc: 0.0245, il_score: 0.5662, rl_score: 0.6041, prev_frame_loss_waypoint_0: 0.3004, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.7596, grad_norm: 85.4761, il_score_sum: 58.4112, rl_score_sum: 58.3760, score_diff: 0.0353, il_win: 45.0000, rl_win: 32.7000
2025-09-24 03:24:03,683 - mmdet - INFO - Epoch [4][2300/3517]	lr: 4.810e-05, eta: 15:57:59, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2552, debug_std_frame_0: 0.3115, debug_std_frame_1: 0.3418, debug_std_frame_2: 0.3859, debug_std_frame_3: 0.4371, debug_std_frame_4: 0.5024, debug_std_frame_5: 0.5603, loss_rl: -0.2178, loss_critic: 1.5132, loss_rl_bc: 0.0299, il_score: 0.5950, rl_score: 0.5925, prev_frame_loss_waypoint_0: 0.2607, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.8774, grad_norm: 74.1794, il_score_sum: 58.4112, rl_score_sum: 58.3760, score_diff: 0.0353, il_win: 45.0000, rl_win: 32.7000
2025-09-24 03:24:19,783 - mmdet - INFO - Epoch [4][2320/3517]	lr: 4.810e-05, eta: 15:57:43, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2664, debug_std_frame_0: 0.3187, debug_std_frame_1: 0.3491, debug_std_frame_2: 0.3984, debug_std_frame_3: 0.4492, debug_std_frame_4: 0.5093, debug_std_frame_5: 0.5661, loss_rl: -0.1535, loss_critic: 1.4467, loss_rl_bc: 0.0342, il_score: 0.5591, rl_score: 0.5388, prev_frame_loss_waypoint_0: 0.2704, prev_frame_loss_rl_bc_0: 0.0321, loss: 1.9047, grad_norm: 92.0774, il_score_sum: 58.4112, rl_score_sum: 58.3760, score_diff: 0.0353, il_win: 45.0000, rl_win: 32.7000
2025-09-24 03:24:35,983 - mmdet - INFO - Epoch [4][2340/3517]	lr: 4.810e-05, eta: 15:57:28, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2512, debug_std_frame_0: 0.3243, debug_std_frame_1: 0.3605, debug_std_frame_2: 0.4105, debug_std_frame_3: 0.4693, debug_std_frame_4: 0.5386, debug_std_frame_5: 0.5981, loss_rl: -0.1533, loss_critic: 1.2542, loss_rl_bc: 0.0336, il_score: 0.5527, rl_score: 0.5520, prev_frame_loss_waypoint_0: 0.2608, prev_frame_loss_rl_bc_0: 0.0347, loss: 1.6889, grad_norm: 84.2698, il_score_sum: 58.4112, rl_score_sum: 58.3760, score_diff: 0.0353, il_win: 45.0000, rl_win: 32.7000
2025-09-24 03:24:52,337 - mmdet - INFO - Epoch [4][2360/3517]	lr: 4.810e-05, eta: 15:57:14, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2766, debug_std_frame_0: 0.4011, debug_std_frame_1: 0.4255, debug_std_frame_2: 0.4636, debug_std_frame_3: 0.5073, debug_std_frame_4: 0.5627, debug_std_frame_5: 0.6158, loss_rl: -0.0922, loss_critic: 1.0847, loss_rl_bc: 0.0540, il_score: 0.5442, rl_score: 0.4840, prev_frame_loss_waypoint_0: 0.3083, prev_frame_loss_rl_bc_0: 0.0625, loss: 1.7021, grad_norm: 96.3752, il_score_sum: 58.3010, rl_score_sum: 58.2793, score_diff: 0.0217, il_win: 45.3500, rl_win: 33.1000
2025-09-24 03:25:08,327 - mmdet - INFO - Epoch [4][2380/3517]	lr: 4.810e-05, eta: 15:56:57, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2475, debug_std_frame_0: 0.4522, debug_std_frame_1: 0.4742, debug_std_frame_2: 0.5013, debug_std_frame_3: 0.5382, debug_std_frame_4: 0.5963, debug_std_frame_5: 0.6421, loss_rl: -0.1700, loss_critic: 1.4234, loss_rl_bc: 0.0352, il_score: 0.5679, rl_score: 0.5430, prev_frame_loss_waypoint_0: 0.2528, prev_frame_loss_rl_bc_0: 0.0375, loss: 1.8343, grad_norm: 70.4132, il_score_sum: 58.3010, rl_score_sum: 58.2793, score_diff: 0.0217, il_win: 45.3500, rl_win: 33.1000
2025-09-24 03:25:24,547 - mmdet - INFO - Epoch [4][2400/3517]	lr: 4.810e-05, eta: 15:56:42, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2300, debug_std_frame_0: 0.4216, debug_std_frame_1: 0.4424, debug_std_frame_2: 0.4701, debug_std_frame_3: 0.5055, debug_std_frame_4: 0.5534, debug_std_frame_5: 0.6024, loss_rl: -0.2147, loss_critic: 1.5869, loss_rl_bc: 0.0281, il_score: 0.5896, rl_score: 0.5826, prev_frame_loss_waypoint_0: 0.2471, prev_frame_loss_rl_bc_0: 0.0314, loss: 1.9169, grad_norm: 61.7839, il_score_sum: 58.3010, rl_score_sum: 58.2793, score_diff: 0.0217, il_win: 45.3500, rl_win: 33.1000
2025-09-24 03:25:40,803 - mmdet - INFO - Epoch [4][2420/3517]	lr: 4.810e-05, eta: 15:56:27, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0077, loss_waypoint: 0.2237, debug_std_frame_0: 0.3827, debug_std_frame_1: 0.4115, debug_std_frame_2: 0.4467, debug_std_frame_3: 0.4910, debug_std_frame_4: 0.5558, debug_std_frame_5: 0.6057, loss_rl: -0.1742, loss_critic: 1.1674, loss_rl_bc: 0.0262, il_score: 0.6226, rl_score: 0.5656, prev_frame_loss_waypoint_0: 0.2651, prev_frame_loss_rl_bc_0: 0.0307, loss: 1.5467, grad_norm: 68.4760, il_score_sum: 58.3010, rl_score_sum: 58.2793, score_diff: 0.0217, il_win: 45.3500, rl_win: 33.1000
2025-09-24 03:25:57,020 - mmdet - INFO - Epoch [4][2440/3517]	lr: 4.810e-05, eta: 15:56:12, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2346, debug_std_frame_0: 0.3283, debug_std_frame_1: 0.3520, debug_std_frame_2: 0.3863, debug_std_frame_3: 0.4251, debug_std_frame_4: 0.4897, debug_std_frame_5: 0.5409, loss_rl: -0.1935, loss_critic: 1.2828, loss_rl_bc: 0.0219, il_score: 0.6200, rl_score: 0.6392, prev_frame_loss_waypoint_0: 0.2446, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.6199, grad_norm: 55.6453, il_score_sum: 58.3010, rl_score_sum: 58.2793, score_diff: 0.0217, il_win: 45.3500, rl_win: 33.1000
2025-09-24 03:26:13,359 - mmdet - INFO - Epoch [4][2460/3517]	lr: 4.810e-05, eta: 15:55:57, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2487, debug_std_frame_0: 0.3461, debug_std_frame_1: 0.3743, debug_std_frame_2: 0.4166, debug_std_frame_3: 0.4598, debug_std_frame_4: 0.5189, debug_std_frame_5: 0.5737, loss_rl: -0.2556, loss_critic: 1.2497, loss_rl_bc: 0.0209, il_score: 0.5967, rl_score: 0.6220, prev_frame_loss_waypoint_0: 0.2705, prev_frame_loss_rl_bc_0: 0.0319, loss: 1.5738, grad_norm: 82.4767, il_score_sum: 58.2454, rl_score_sum: 58.3022, score_diff: -0.0568, il_win: 45.7000, rl_win: 33.5000
2025-09-24 03:26:29,396 - mmdet - INFO - Epoch [4][2480/3517]	lr: 4.810e-05, eta: 15:55:41, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0072, loss_waypoint: 0.2418, debug_std_frame_0: 0.3649, debug_std_frame_1: 0.3917, debug_std_frame_2: 0.4366, debug_std_frame_3: 0.4812, debug_std_frame_4: 0.5413, debug_std_frame_5: 0.5987, loss_rl: -0.1848, loss_critic: 1.4059, loss_rl_bc: 0.0369, il_score: 0.5893, rl_score: 0.5702, prev_frame_loss_waypoint_0: 0.2535, prev_frame_loss_rl_bc_0: 0.0357, loss: 1.7962, grad_norm: 68.8413, il_score_sum: 58.2454, rl_score_sum: 58.3022, score_diff: -0.0568, il_win: 45.7000, rl_win: 33.5000
2025-09-24 03:26:45,395 - mmdet - INFO - Epoch [4][2500/3517]	lr: 4.810e-05, eta: 15:55:24, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2129, debug_std_frame_0: 0.3648, debug_std_frame_1: 0.3904, debug_std_frame_2: 0.4297, debug_std_frame_3: 0.4699, debug_std_frame_4: 0.5331, debug_std_frame_5: 0.5869, loss_rl: -0.1605, loss_critic: 1.3283, loss_rl_bc: 0.0289, il_score: 0.5441, rl_score: 0.5431, prev_frame_loss_waypoint_0: 0.2461, prev_frame_loss_rl_bc_0: 0.0357, loss: 1.6990, grad_norm: 76.6840, il_score_sum: 58.2454, rl_score_sum: 58.3022, score_diff: -0.0568, il_win: 45.7000, rl_win: 33.5000
2025-09-24 03:27:01,431 - mmdet - INFO - Epoch [4][2520/3517]	lr: 4.810e-05, eta: 15:55:08, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0073, loss_waypoint: 0.2639, debug_std_frame_0: 0.3587, debug_std_frame_1: 0.3932, debug_std_frame_2: 0.4378, debug_std_frame_3: 0.4858, debug_std_frame_4: 0.5480, debug_std_frame_5: 0.6029, loss_rl: -0.2072, loss_critic: 1.6266, loss_rl_bc: 0.0281, il_score: 0.5250, rl_score: 0.5762, prev_frame_loss_waypoint_0: 0.2614, prev_frame_loss_rl_bc_0: 0.0239, loss: 2.0040, grad_norm: 83.9214, il_score_sum: 58.2454, rl_score_sum: 58.3022, score_diff: -0.0568, il_win: 45.7000, rl_win: 33.5000
2025-09-24 03:27:17,472 - mmdet - INFO - Epoch [4][2540/3517]	lr: 4.810e-05, eta: 15:54:52, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2067, debug_std_frame_0: 0.3082, debug_std_frame_1: 0.3415, debug_std_frame_2: 0.3928, debug_std_frame_3: 0.4440, debug_std_frame_4: 0.5146, debug_std_frame_5: 0.5693, loss_rl: -0.1654, loss_critic: 1.1589, loss_rl_bc: 0.0255, il_score: 0.6088, rl_score: 0.5768, prev_frame_loss_waypoint_0: 0.2242, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.4831, grad_norm: 59.2987, il_score_sum: 58.2454, rl_score_sum: 58.3022, score_diff: -0.0568, il_win: 45.7000, rl_win: 33.5000
2025-09-24 03:27:33,659 - mmdet - INFO - Epoch [4][2560/3517]	lr: 4.810e-05, eta: 15:54:37, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0072, loss_waypoint: 0.2323, debug_std_frame_0: 0.3052, debug_std_frame_1: 0.3393, debug_std_frame_2: 0.3872, debug_std_frame_3: 0.4360, debug_std_frame_4: 0.5043, debug_std_frame_5: 0.5610, loss_rl: -0.2040, loss_critic: 1.2735, loss_rl_bc: 0.0204, il_score: 0.5933, rl_score: 0.6051, prev_frame_loss_waypoint_0: 0.2268, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.5753, grad_norm: 78.5231, il_score_sum: 58.1832, rl_score_sum: 58.3522, score_diff: -0.1690, il_win: 46.0000, rl_win: 33.9000
2025-09-24 03:27:49,605 - mmdet - INFO - Epoch [4][2580/3517]	lr: 4.810e-05, eta: 15:54:20, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0071, loss_waypoint: 0.2176, debug_std_frame_0: 0.2625, debug_std_frame_1: 0.2999, debug_std_frame_2: 0.3572, debug_std_frame_3: 0.4122, debug_std_frame_4: 0.4790, debug_std_frame_5: 0.5386, loss_rl: -0.1728, loss_critic: 1.9492, loss_rl_bc: 0.0278, il_score: 0.5478, rl_score: 0.5565, prev_frame_loss_waypoint_0: 0.2287, prev_frame_loss_rl_bc_0: 0.0269, loss: 2.2844, grad_norm: 71.0798, il_score_sum: 58.1832, rl_score_sum: 58.3522, score_diff: -0.1690, il_win: 46.0000, rl_win: 33.9000
2025-09-24 03:28:05,418 - mmdet - INFO - Epoch [4][2600/3517]	lr: 4.810e-05, eta: 15:54:02, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2368, debug_std_frame_0: 0.3139, debug_std_frame_1: 0.3480, debug_std_frame_2: 0.3967, debug_std_frame_3: 0.4447, debug_std_frame_4: 0.5038, debug_std_frame_5: 0.5532, loss_rl: -0.1381, loss_critic: 1.3878, loss_rl_bc: 0.0444, il_score: 0.5791, rl_score: 0.5491, prev_frame_loss_waypoint_0: 0.2267, prev_frame_loss_rl_bc_0: 0.0415, loss: 1.8069, grad_norm: 79.0183, il_score_sum: 58.1832, rl_score_sum: 58.3522, score_diff: -0.1690, il_win: 46.0000, rl_win: 33.9000
2025-09-24 03:28:21,405 - mmdet - INFO - Epoch [4][2620/3517]	lr: 4.810e-05, eta: 15:53:46, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0075, loss_waypoint: 0.2220, debug_std_frame_0: 0.3733, debug_std_frame_1: 0.4083, debug_std_frame_2: 0.4555, debug_std_frame_3: 0.5032, debug_std_frame_4: 0.5619, debug_std_frame_5: 0.6075, loss_rl: -0.1560, loss_critic: 1.1829, loss_rl_bc: 0.0380, il_score: 0.6350, rl_score: 0.5515, prev_frame_loss_waypoint_0: 0.2314, prev_frame_loss_rl_bc_0: 0.0436, loss: 1.5695, grad_norm: 63.0136, il_score_sum: 58.1832, rl_score_sum: 58.3522, score_diff: -0.1690, il_win: 46.0000, rl_win: 33.9000
2025-09-24 03:28:37,322 - mmdet - INFO - Epoch [4][2640/3517]	lr: 4.810e-05, eta: 15:53:29, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2585, debug_std_frame_0: 0.4094, debug_std_frame_1: 0.4394, debug_std_frame_2: 0.4828, debug_std_frame_3: 0.5257, debug_std_frame_4: 0.5822, debug_std_frame_5: 0.6248, loss_rl: -0.1585, loss_critic: 1.2672, loss_rl_bc: 0.0390, il_score: 0.5720, rl_score: 0.5778, prev_frame_loss_waypoint_0: 0.2715, prev_frame_loss_rl_bc_0: 0.0463, loss: 1.7318, grad_norm: 84.2050, il_score_sum: 58.1832, rl_score_sum: 58.3522, score_diff: -0.1690, il_win: 46.0000, rl_win: 33.9000
2025-09-24 03:28:53,457 - mmdet - INFO - Epoch [4][2660/3517]	lr: 4.810e-05, eta: 15:53:13, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2217, debug_std_frame_0: 0.3473, debug_std_frame_1: 0.3787, debug_std_frame_2: 0.4256, debug_std_frame_3: 0.4739, debug_std_frame_4: 0.5404, debug_std_frame_5: 0.5888, loss_rl: -0.2009, loss_critic: 1.2360, loss_rl_bc: 0.0225, il_score: 0.6008, rl_score: 0.6147, prev_frame_loss_waypoint_0: 0.2200, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.5325, grad_norm: 69.6876, il_score_sum: 58.2679, rl_score_sum: 58.2724, score_diff: -0.0045, il_win: 46.3500, rl_win: 34.2500
2025-09-24 03:29:09,449 - mmdet - INFO - Epoch [4][2680/3517]	lr: 4.810e-05, eta: 15:52:57, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2220, debug_std_frame_0: 0.3258, debug_std_frame_1: 0.3578, debug_std_frame_2: 0.4092, debug_std_frame_3: 0.4616, debug_std_frame_4: 0.5247, debug_std_frame_5: 0.5804, loss_rl: -0.1930, loss_critic: 1.2628, loss_rl_bc: 0.0301, il_score: 0.6234, rl_score: 0.6014, prev_frame_loss_waypoint_0: 0.2408, prev_frame_loss_rl_bc_0: 0.0286, loss: 1.5993, grad_norm: 74.8683, il_score_sum: 58.2679, rl_score_sum: 58.2724, score_diff: -0.0045, il_win: 46.3500, rl_win: 34.2500
2025-09-24 03:29:25,380 - mmdet - INFO - Epoch [4][2700/3517]	lr: 4.810e-05, eta: 15:52:40, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2514, debug_std_frame_0: 0.2957, debug_std_frame_1: 0.3292, debug_std_frame_2: 0.3852, debug_std_frame_3: 0.4336, debug_std_frame_4: 0.5012, debug_std_frame_5: 0.5584, loss_rl: -0.2009, loss_critic: 1.4312, loss_rl_bc: 0.0273, il_score: 0.5690, rl_score: 0.6018, prev_frame_loss_waypoint_0: 0.2576, prev_frame_loss_rl_bc_0: 0.0268, loss: 1.8017, grad_norm: 91.5312, il_score_sum: 58.2679, rl_score_sum: 58.2724, score_diff: -0.0045, il_win: 46.3500, rl_win: 34.2500
2025-09-24 03:29:41,567 - mmdet - INFO - Epoch [4][2720/3517]	lr: 4.810e-05, eta: 15:52:25, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2100, debug_std_frame_0: 0.3011, debug_std_frame_1: 0.3337, debug_std_frame_2: 0.3890, debug_std_frame_3: 0.4388, debug_std_frame_4: 0.5061, debug_std_frame_5: 0.5643, loss_rl: -0.2183, loss_critic: 1.2072, loss_rl_bc: 0.0170, il_score: 0.6143, rl_score: 0.6391, prev_frame_loss_waypoint_0: 0.2426, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.4931, grad_norm: 64.1567, il_score_sum: 58.2679, rl_score_sum: 58.2724, score_diff: -0.0045, il_win: 46.3500, rl_win: 34.2500
2025-09-24 03:29:57,666 - mmdet - INFO - Epoch [4][2740/3517]	lr: 4.810e-05, eta: 15:52:09, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2322, debug_std_frame_0: 0.2890, debug_std_frame_1: 0.3266, debug_std_frame_2: 0.3865, debug_std_frame_3: 0.4444, debug_std_frame_4: 0.5042, debug_std_frame_5: 0.5664, loss_rl: -0.1521, loss_critic: 1.2415, loss_rl_bc: 0.0299, il_score: 0.5810, rl_score: 0.5794, prev_frame_loss_waypoint_0: 0.2602, prev_frame_loss_rl_bc_0: 0.0365, loss: 1.6560, grad_norm: 80.5884, il_score_sum: 58.2679, rl_score_sum: 58.2724, score_diff: -0.0045, il_win: 46.3500, rl_win: 34.2500
2025-09-24 03:30:13,724 - mmdet - INFO - Epoch [4][2760/3517]	lr: 4.810e-05, eta: 15:51:53, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2235, debug_std_frame_0: 0.3333, debug_std_frame_1: 0.3683, debug_std_frame_2: 0.4190, debug_std_frame_3: 0.4701, debug_std_frame_4: 0.5308, debug_std_frame_5: 0.5843, loss_rl: -0.1991, loss_critic: 1.3950, loss_rl_bc: 0.0230, il_score: 0.5844, rl_score: 0.6007, prev_frame_loss_waypoint_0: 0.2350, prev_frame_loss_rl_bc_0: 0.0245, loss: 1.7098, grad_norm: 90.6574, il_score_sum: 58.2153, rl_score_sum: 58.3373, score_diff: -0.1220, il_win: 46.6500, rl_win: 34.6000
2025-09-24 03:30:29,782 - mmdet - INFO - Epoch [4][2780/3517]	lr: 4.810e-05, eta: 15:51:37, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2018, debug_std_frame_0: 0.3076, debug_std_frame_1: 0.3399, debug_std_frame_2: 0.3899, debug_std_frame_3: 0.4402, debug_std_frame_4: 0.4964, debug_std_frame_5: 0.5556, loss_rl: -0.1608, loss_critic: 1.6846, loss_rl_bc: 0.0235, il_score: 0.5865, rl_score: 0.5957, prev_frame_loss_waypoint_0: 0.2069, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.9895, grad_norm: 60.9322, il_score_sum: 58.2153, rl_score_sum: 58.3373, score_diff: -0.1220, il_win: 46.6500, rl_win: 34.6000
2025-09-24 03:30:45,994 - mmdet - INFO - Epoch [4][2800/3517]	lr: 4.810e-05, eta: 15:51:21, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2294, debug_std_frame_0: 0.3262, debug_std_frame_1: 0.3572, debug_std_frame_2: 0.4039, debug_std_frame_3: 0.4512, debug_std_frame_4: 0.5048, debug_std_frame_5: 0.5663, loss_rl: -0.1832, loss_critic: 1.3173, loss_rl_bc: 0.0251, il_score: 0.6000, rl_score: 0.6027, prev_frame_loss_waypoint_0: 0.2545, prev_frame_loss_rl_bc_0: 0.0266, loss: 1.6781, grad_norm: 80.5583, il_score_sum: 58.2153, rl_score_sum: 58.3373, score_diff: -0.1220, il_win: 46.6500, rl_win: 34.6000
2025-09-24 03:31:01,872 - mmdet - INFO - Epoch [4][2820/3517]	lr: 4.810e-05, eta: 15:51:04, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2074, debug_std_frame_0: 0.3229, debug_std_frame_1: 0.3519, debug_std_frame_2: 0.3967, debug_std_frame_3: 0.4393, debug_std_frame_4: 0.4955, debug_std_frame_5: 0.5530, loss_rl: -0.2351, loss_critic: 1.6066, loss_rl_bc: 0.0218, il_score: 0.6190, rl_score: 0.6410, prev_frame_loss_waypoint_0: 0.2462, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.8791, grad_norm: 68.9386, il_score_sum: 58.2153, rl_score_sum: 58.3373, score_diff: -0.1220, il_win: 46.6500, rl_win: 34.6000
2025-09-24 03:31:17,931 - mmdet - INFO - Epoch [4][2840/3517]	lr: 4.810e-05, eta: 15:50:48, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2406, debug_std_frame_0: 0.2968, debug_std_frame_1: 0.3342, debug_std_frame_2: 0.3926, debug_std_frame_3: 0.4513, debug_std_frame_4: 0.5157, debug_std_frame_5: 0.5814, loss_rl: -0.1621, loss_critic: 1.3611, loss_rl_bc: 0.0290, il_score: 0.5462, rl_score: 0.5659, prev_frame_loss_waypoint_0: 0.2479, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.7552, grad_norm: 74.8925, il_score_sum: 58.2153, rl_score_sum: 58.3373, score_diff: -0.1220, il_win: 46.6500, rl_win: 34.6000
2025-09-24 03:31:34,079 - mmdet - INFO - Epoch [4][2860/3517]	lr: 4.810e-05, eta: 15:50:32, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2451, debug_std_frame_0: 0.3027, debug_std_frame_1: 0.3369, debug_std_frame_2: 0.3912, debug_std_frame_3: 0.4481, debug_std_frame_4: 0.5059, debug_std_frame_5: 0.5696, loss_rl: -0.1621, loss_critic: 1.2834, loss_rl_bc: 0.0289, il_score: 0.5908, rl_score: 0.5753, prev_frame_loss_waypoint_0: 0.2685, prev_frame_loss_rl_bc_0: 0.0366, loss: 1.7086, grad_norm: 87.0165, il_score_sum: 58.2417, rl_score_sum: 58.5866, score_diff: -0.3449, il_win: 46.9000, rl_win: 35.0000
2025-09-24 03:31:50,153 - mmdet - INFO - Epoch [4][2880/3517]	lr: 4.810e-05, eta: 15:50:16, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2139, debug_std_frame_0: 0.3307, debug_std_frame_1: 0.3626, debug_std_frame_2: 0.4137, debug_std_frame_3: 0.4644, debug_std_frame_4: 0.5197, debug_std_frame_5: 0.5834, loss_rl: -0.1688, loss_critic: 1.1919, loss_rl_bc: 0.0287, il_score: 0.5950, rl_score: 0.5759, prev_frame_loss_waypoint_0: 0.2550, prev_frame_loss_rl_bc_0: 0.0344, loss: 1.5634, grad_norm: 97.7793, il_score_sum: 58.2417, rl_score_sum: 58.5866, score_diff: -0.3449, il_win: 46.9000, rl_win: 35.0000
2025-09-24 03:32:06,301 - mmdet - INFO - Epoch [4][2900/3517]	lr: 4.810e-05, eta: 15:50:01, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2374, debug_std_frame_0: 0.3389, debug_std_frame_1: 0.3690, debug_std_frame_2: 0.4166, debug_std_frame_3: 0.4662, debug_std_frame_4: 0.5187, debug_std_frame_5: 0.5774, loss_rl: -0.1836, loss_critic: 1.1301, loss_rl_bc: 0.0264, il_score: 0.6008, rl_score: 0.5999, prev_frame_loss_waypoint_0: 0.2358, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.4807, grad_norm: 83.0348, il_score_sum: 58.2417, rl_score_sum: 58.5866, score_diff: -0.3449, il_win: 46.9000, rl_win: 35.0000
2025-09-24 03:32:22,297 - mmdet - INFO - Epoch [4][2920/3517]	lr: 4.810e-05, eta: 15:49:44, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2430, debug_std_frame_0: 0.3288, debug_std_frame_1: 0.3602, debug_std_frame_2: 0.4098, debug_std_frame_3: 0.4619, debug_std_frame_4: 0.5177, debug_std_frame_5: 0.5788, loss_rl: -0.1997, loss_critic: 1.3393, loss_rl_bc: 0.0298, il_score: 0.6018, rl_score: 0.6072, prev_frame_loss_waypoint_0: 0.2641, prev_frame_loss_rl_bc_0: 0.0299, loss: 1.7145, grad_norm: 71.2373, il_score_sum: 58.2417, rl_score_sum: 58.5866, score_diff: -0.3449, il_win: 46.9000, rl_win: 35.0000
2025-09-24 03:32:38,322 - mmdet - INFO - Epoch [4][2940/3517]	lr: 4.810e-05, eta: 15:49:28, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2156, debug_std_frame_0: 0.3400, debug_std_frame_1: 0.3770, debug_std_frame_2: 0.4331, debug_std_frame_3: 0.4876, debug_std_frame_4: 0.5497, debug_std_frame_5: 0.6087, loss_rl: -0.2253, loss_critic: 1.1803, loss_rl_bc: 0.0206, il_score: 0.5929, rl_score: 0.6047, prev_frame_loss_waypoint_0: 0.2418, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.4704, grad_norm: 62.4952, il_score_sum: 58.2417, rl_score_sum: 58.5866, score_diff: -0.3449, il_win: 46.9000, rl_win: 35.0000
2025-09-24 03:32:54,454 - mmdet - INFO - Epoch [4][2960/3517]	lr: 4.810e-05, eta: 15:49:12, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2113, debug_std_frame_0: 0.3250, debug_std_frame_1: 0.3560, debug_std_frame_2: 0.4077, debug_std_frame_3: 0.4575, debug_std_frame_4: 0.5204, debug_std_frame_5: 0.5768, loss_rl: -0.1418, loss_critic: 1.3382, loss_rl_bc: 0.0324, il_score: 0.6098, rl_score: 0.5766, prev_frame_loss_waypoint_0: 0.2531, prev_frame_loss_rl_bc_0: 0.0393, loss: 1.7414, grad_norm: 71.5034, il_score_sum: 58.3039, rl_score_sum: 58.7390, score_diff: -0.4351, il_win: 47.1000, rl_win: 35.4000
2025-09-24 03:33:10,635 - mmdet - INFO - Epoch [4][2980/3517]	lr: 4.810e-05, eta: 15:48:57, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2090, debug_std_frame_0: 0.3999, debug_std_frame_1: 0.4308, debug_std_frame_2: 0.4781, debug_std_frame_3: 0.5271, debug_std_frame_4: 0.5869, debug_std_frame_5: 0.6366, loss_rl: -0.1340, loss_critic: 1.1125, loss_rl_bc: 0.0433, il_score: 0.6186, rl_score: 0.5137, prev_frame_loss_waypoint_0: 0.2287, prev_frame_loss_rl_bc_0: 0.0467, loss: 1.5141, grad_norm: 67.6088, il_score_sum: 58.3039, rl_score_sum: 58.7390, score_diff: -0.4351, il_win: 47.1000, rl_win: 35.4000
2025-09-24 03:33:26,585 - mmdet - INFO - Epoch [4][3000/3517]	lr: 4.810e-05, eta: 15:48:40, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2212, debug_std_frame_0: 0.4292, debug_std_frame_1: 0.4456, debug_std_frame_2: 0.4755, debug_std_frame_3: 0.5146, debug_std_frame_4: 0.5675, debug_std_frame_5: 0.6167, loss_rl: -0.2017, loss_critic: 1.5633, loss_rl_bc: 0.0319, il_score: 0.6396, rl_score: 0.6277, prev_frame_loss_waypoint_0: 0.2225, prev_frame_loss_rl_bc_0: 0.0256, loss: 1.8718, grad_norm: 52.5575, il_score_sum: 58.3039, rl_score_sum: 58.7390, score_diff: -0.4351, il_win: 47.1000, rl_win: 35.4000
2025-09-24 03:33:42,626 - mmdet - INFO - Epoch [4][3020/3517]	lr: 4.810e-05, eta: 15:48:24, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2837, debug_std_frame_0: 0.3866, debug_std_frame_1: 0.4075, debug_std_frame_2: 0.4461, debug_std_frame_3: 0.4876, debug_std_frame_4: 0.5423, debug_std_frame_5: 0.5989, loss_rl: -0.1565, loss_critic: 1.1491, loss_rl_bc: 0.0290, il_score: 0.5298, rl_score: 0.5926, prev_frame_loss_waypoint_0: 0.3037, prev_frame_loss_rl_bc_0: 0.0259, loss: 1.6431, grad_norm: 86.3562, il_score_sum: 58.3039, rl_score_sum: 58.7390, score_diff: -0.4351, il_win: 47.1000, rl_win: 35.4000
2025-09-24 03:33:58,631 - mmdet - INFO - Epoch [4][3040/3517]	lr: 4.810e-05, eta: 15:48:08, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2250, debug_std_frame_0: 0.3468, debug_std_frame_1: 0.3673, debug_std_frame_2: 0.4053, debug_std_frame_3: 0.4528, debug_std_frame_4: 0.5162, debug_std_frame_5: 0.5783, loss_rl: -0.1794, loss_critic: 1.1266, loss_rl_bc: 0.0212, il_score: 0.5920, rl_score: 0.6135, prev_frame_loss_waypoint_0: 0.2332, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.4561, grad_norm: 75.5693, il_score_sum: 58.3039, rl_score_sum: 58.7390, score_diff: -0.4351, il_win: 47.1000, rl_win: 35.4000
2025-09-24 03:34:14,833 - mmdet - INFO - Epoch [4][3060/3517]	lr: 4.810e-05, eta: 15:47:52, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2063, debug_std_frame_0: 0.2868, debug_std_frame_1: 0.3091, debug_std_frame_2: 0.3538, debug_std_frame_3: 0.4039, debug_std_frame_4: 0.4608, debug_std_frame_5: 0.5272, loss_rl: -0.1823, loss_critic: 1.1387, loss_rl_bc: 0.0185, il_score: 0.6154, rl_score: 0.6175, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.4339, grad_norm: 61.8520, il_score_sum: 58.3001, rl_score_sum: 58.7632, score_diff: -0.4631, il_win: 47.2500, rl_win: 35.8000
2025-09-24 03:34:30,881 - mmdet - INFO - Epoch [4][3080/3517]	lr: 4.810e-05, eta: 15:47:36, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2521, debug_std_frame_0: 0.2639, debug_std_frame_1: 0.2911, debug_std_frame_2: 0.3496, debug_std_frame_3: 0.4145, debug_std_frame_4: 0.4867, debug_std_frame_5: 0.5532, loss_rl: -0.1887, loss_critic: 1.3987, loss_rl_bc: 0.0247, il_score: 0.5659, rl_score: 0.6139, prev_frame_loss_waypoint_0: 0.2428, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.7583, grad_norm: 62.2726, il_score_sum: 58.3001, rl_score_sum: 58.7632, score_diff: -0.4631, il_win: 47.2500, rl_win: 35.8000
2025-09-24 03:34:46,836 - mmdet - INFO - Epoch [4][3100/3517]	lr: 4.810e-05, eta: 15:47:19, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2474, debug_std_frame_0: 0.2809, debug_std_frame_1: 0.3096, debug_std_frame_2: 0.3747, debug_std_frame_3: 0.4409, debug_std_frame_4: 0.5127, debug_std_frame_5: 0.5754, loss_rl: -0.1654, loss_critic: 1.2594, loss_rl_bc: 0.0251, il_score: 0.5797, rl_score: 0.6120, prev_frame_loss_waypoint_0: 0.2533, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.6539, grad_norm: 64.3760, il_score_sum: 58.3001, rl_score_sum: 58.7632, score_diff: -0.4631, il_win: 47.2500, rl_win: 35.8000
2025-09-24 03:35:02,824 - mmdet - INFO - Epoch [4][3120/3517]	lr: 4.810e-05, eta: 15:47:03, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2209, debug_std_frame_0: 0.2666, debug_std_frame_1: 0.2957, debug_std_frame_2: 0.3530, debug_std_frame_3: 0.4154, debug_std_frame_4: 0.4852, debug_std_frame_5: 0.5425, loss_rl: -0.1593, loss_critic: 1.4450, loss_rl_bc: 0.0251, il_score: 0.6098, rl_score: 0.6093, prev_frame_loss_waypoint_0: 0.2300, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.7938, grad_norm: 58.4255, il_score_sum: 58.3001, rl_score_sum: 58.7632, score_diff: -0.4631, il_win: 47.2500, rl_win: 35.8000
2025-09-24 03:35:18,630 - mmdet - INFO - Epoch [4][3140/3517]	lr: 4.810e-05, eta: 15:46:46, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2204, debug_std_frame_0: 0.2684, debug_std_frame_1: 0.3004, debug_std_frame_2: 0.3629, debug_std_frame_3: 0.4303, debug_std_frame_4: 0.5006, debug_std_frame_5: 0.5706, loss_rl: -0.1875, loss_critic: 1.5765, loss_rl_bc: 0.0219, il_score: 0.5538, rl_score: 0.5627, prev_frame_loss_waypoint_0: 0.2363, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.9018, grad_norm: 74.2476, il_score_sum: 58.3001, rl_score_sum: 58.7632, score_diff: -0.4631, il_win: 47.2500, rl_win: 35.8000
2025-09-24 03:35:34,839 - mmdet - INFO - Epoch [4][3160/3517]	lr: 4.810e-05, eta: 15:46:30, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2606, debug_std_frame_0: 0.3133, debug_std_frame_1: 0.3415, debug_std_frame_2: 0.3916, debug_std_frame_3: 0.4456, debug_std_frame_4: 0.5020, debug_std_frame_5: 0.5638, loss_rl: -0.1906, loss_critic: 1.6259, loss_rl_bc: 0.0338, il_score: 0.5490, rl_score: 0.5657, prev_frame_loss_waypoint_0: 0.2789, prev_frame_loss_rl_bc_0: 0.0345, loss: 2.0514, grad_norm: 94.4901, il_score_sum: 58.2724, rl_score_sum: 58.7932, score_diff: -0.5209, il_win: 47.4000, rl_win: 36.2500
2025-09-24 03:35:50,830 - mmdet - INFO - Epoch [4][3180/3517]	lr: 4.810e-05, eta: 15:46:14, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2303, debug_std_frame_0: 0.3379, debug_std_frame_1: 0.3691, debug_std_frame_2: 0.4198, debug_std_frame_3: 0.4746, debug_std_frame_4: 0.5392, debug_std_frame_5: 0.6004, loss_rl: -0.2117, loss_critic: 0.9890, loss_rl_bc: 0.0268, il_score: 0.6348, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2472, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.3254, grad_norm: 53.5958, il_score_sum: 58.2724, rl_score_sum: 58.7932, score_diff: -0.5209, il_win: 47.4000, rl_win: 36.2500
2025-09-24 03:36:06,855 - mmdet - INFO - Epoch [4][3200/3517]	lr: 4.810e-05, eta: 15:45:57, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2247, debug_std_frame_0: 0.3292, debug_std_frame_1: 0.3619, debug_std_frame_2: 0.4151, debug_std_frame_3: 0.4707, debug_std_frame_4: 0.5318, debug_std_frame_5: 0.5942, loss_rl: -0.1805, loss_critic: 1.2657, loss_rl_bc: 0.0275, il_score: 0.6146, rl_score: 0.5863, prev_frame_loss_waypoint_0: 0.2446, prev_frame_loss_rl_bc_0: 0.0261, loss: 1.6164, grad_norm: 75.1735, il_score_sum: 58.2724, rl_score_sum: 58.7932, score_diff: -0.5209, il_win: 47.4000, rl_win: 36.2500
2025-09-24 03:36:22,752 - mmdet - INFO - Epoch [4][3220/3517]	lr: 4.810e-05, eta: 15:45:41, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2415, debug_std_frame_0: 0.3045, debug_std_frame_1: 0.3463, debug_std_frame_2: 0.4098, debug_std_frame_3: 0.4744, debug_std_frame_4: 0.5415, debug_std_frame_5: 0.6078, loss_rl: -0.1697, loss_critic: 1.0643, loss_rl_bc: 0.0267, il_score: 0.5826, rl_score: 0.5829, prev_frame_loss_waypoint_0: 0.2547, prev_frame_loss_rl_bc_0: 0.0290, loss: 1.4548, grad_norm: 60.6139, il_score_sum: 58.2724, rl_score_sum: 58.7932, score_diff: -0.5209, il_win: 47.4000, rl_win: 36.2500
2025-09-24 03:36:38,689 - mmdet - INFO - Epoch [4][3240/3517]	lr: 4.810e-05, eta: 15:45:24, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2208, debug_std_frame_0: 0.2840, debug_std_frame_1: 0.3203, debug_std_frame_2: 0.3767, debug_std_frame_3: 0.4350, debug_std_frame_4: 0.4977, debug_std_frame_5: 0.5598, loss_rl: -0.2496, loss_critic: 1.4232, loss_rl_bc: 0.0186, il_score: 0.5973, rl_score: 0.6175, prev_frame_loss_waypoint_0: 0.2498, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.6933, grad_norm: 75.1511, il_score_sum: 58.2724, rl_score_sum: 58.7932, score_diff: -0.5209, il_win: 47.4000, rl_win: 36.2500
2025-09-24 03:36:54,794 - mmdet - INFO - Epoch [4][3260/3517]	lr: 4.810e-05, eta: 15:45:08, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2171, debug_std_frame_0: 0.2723, debug_std_frame_1: 0.3052, debug_std_frame_2: 0.3586, debug_std_frame_3: 0.4134, debug_std_frame_4: 0.4737, debug_std_frame_5: 0.5382, loss_rl: -0.2132, loss_critic: 1.4993, loss_rl_bc: 0.0214, il_score: 0.5960, rl_score: 0.6032, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.7902, grad_norm: 72.3045, il_score_sum: 58.3171, rl_score_sum: 58.8225, score_diff: -0.5055, il_win: 47.5500, rl_win: 36.7000
2025-09-24 03:37:10,855 - mmdet - INFO - Epoch [4][3280/3517]	lr: 4.810e-05, eta: 15:44:52, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2483, debug_std_frame_0: 0.2968, debug_std_frame_1: 0.3336, debug_std_frame_2: 0.3932, debug_std_frame_3: 0.4602, debug_std_frame_4: 0.5256, debug_std_frame_5: 0.5968, loss_rl: -0.1793, loss_critic: 1.2181, loss_rl_bc: 0.0293, il_score: 0.5904, rl_score: 0.6066, prev_frame_loss_waypoint_0: 0.2810, prev_frame_loss_rl_bc_0: 0.0341, loss: 1.6401, grad_norm: 88.6270, il_score_sum: 58.3171, rl_score_sum: 58.8225, score_diff: -0.5055, il_win: 47.5500, rl_win: 36.7000
2025-09-24 03:37:26,758 - mmdet - INFO - Epoch [4][3300/3517]	lr: 4.810e-05, eta: 15:44:35, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2215, debug_std_frame_0: 0.3048, debug_std_frame_1: 0.3413, debug_std_frame_2: 0.3970, debug_std_frame_3: 0.4573, debug_std_frame_4: 0.5218, debug_std_frame_5: 0.5877, loss_rl: -0.1612, loss_critic: 1.1401, loss_rl_bc: 0.0259, il_score: 0.6039, rl_score: 0.5889, prev_frame_loss_waypoint_0: 0.2610, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.5237, grad_norm: 66.3891, il_score_sum: 58.3171, rl_score_sum: 58.8225, score_diff: -0.5055, il_win: 47.5500, rl_win: 36.7000
2025-09-24 03:37:42,695 - mmdet - INFO - Epoch [4][3320/3517]	lr: 4.810e-05, eta: 15:44:18, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2052, debug_std_frame_0: 0.3000, debug_std_frame_1: 0.3278, debug_std_frame_2: 0.3704, debug_std_frame_3: 0.4215, debug_std_frame_4: 0.4742, debug_std_frame_5: 0.5309, loss_rl: -0.2881, loss_critic: 1.3122, loss_rl_bc: 0.0157, il_score: 0.6201, rl_score: 0.6402, prev_frame_loss_waypoint_0: 0.2217, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.4939, grad_norm: 64.8214, il_score_sum: 58.3171, rl_score_sum: 58.8225, score_diff: -0.5055, il_win: 47.5500, rl_win: 36.7000
2025-09-24 03:37:58,704 - mmdet - INFO - Epoch [4][3340/3517]	lr: 4.810e-05, eta: 15:44:02, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2244, debug_std_frame_0: 0.2882, debug_std_frame_1: 0.3147, debug_std_frame_2: 0.3589, debug_std_frame_3: 0.4146, debug_std_frame_4: 0.4650, debug_std_frame_5: 0.5284, loss_rl: -0.1862, loss_critic: 1.6778, loss_rl_bc: 0.0249, il_score: 0.5959, rl_score: 0.6065, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0273, loss: 2.0268, grad_norm: 64.2022, il_score_sum: 58.3171, rl_score_sum: 58.8225, score_diff: -0.5055, il_win: 47.5500, rl_win: 36.7000
2025-09-24 03:38:15,017 - mmdet - INFO - Epoch [4][3360/3517]	lr: 4.810e-05, eta: 15:43:47, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2093, debug_std_frame_0: 0.2844, debug_std_frame_1: 0.3115, debug_std_frame_2: 0.3565, debug_std_frame_3: 0.4130, debug_std_frame_4: 0.4754, debug_std_frame_5: 0.5432, loss_rl: -0.0977, loss_critic: 1.0739, loss_rl_bc: 0.0279, il_score: 0.6052, rl_score: 0.5656, prev_frame_loss_waypoint_0: 0.2099, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.4598, grad_norm: 64.5502, il_score_sum: 58.5486, rl_score_sum: 58.9496, score_diff: -0.4010, il_win: 47.7000, rl_win: 37.1000
2025-09-24 03:38:31,004 - mmdet - INFO - Epoch [4][3380/3517]	lr: 4.810e-05, eta: 15:43:31, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.1919, debug_std_frame_0: 0.3609, debug_std_frame_1: 0.3880, debug_std_frame_2: 0.4257, debug_std_frame_3: 0.4729, debug_std_frame_4: 0.5269, debug_std_frame_5: 0.5833, loss_rl: -0.1730, loss_critic: 1.4100, loss_rl_bc: 0.0343, il_score: 0.6458, rl_score: 0.5541, prev_frame_loss_waypoint_0: 0.2254, prev_frame_loss_rl_bc_0: 0.0365, loss: 1.7329, grad_norm: 70.3950, il_score_sum: 58.5486, rl_score_sum: 58.9496, score_diff: -0.4010, il_win: 47.7000, rl_win: 37.1000
2025-09-24 03:38:47,019 - mmdet - INFO - Epoch [4][3400/3517]	lr: 4.810e-05, eta: 15:43:14, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2978, debug_std_frame_0: 0.3971, debug_std_frame_1: 0.4236, debug_std_frame_2: 0.4603, debug_std_frame_3: 0.5036, debug_std_frame_4: 0.5542, debug_std_frame_5: 0.6035, loss_rl: -0.1311, loss_critic: 1.3866, loss_rl_bc: 0.0361, il_score: 0.4970, rl_score: 0.5475, prev_frame_loss_waypoint_0: 0.3249, prev_frame_loss_rl_bc_0: 0.0374, loss: 1.9597, grad_norm: 111.9303, il_score_sum: 58.5486, rl_score_sum: 58.9496, score_diff: -0.4010, il_win: 47.7000, rl_win: 37.1000
2025-09-24 03:39:02,986 - mmdet - INFO - Epoch [4][3420/3517]	lr: 4.810e-05, eta: 15:42:58, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2176, debug_std_frame_0: 0.3906, debug_std_frame_1: 0.4131, debug_std_frame_2: 0.4469, debug_std_frame_3: 0.4867, debug_std_frame_4: 0.5367, debug_std_frame_5: 0.5953, loss_rl: -0.1793, loss_critic: 1.1669, loss_rl_bc: 0.0260, il_score: 0.6504, rl_score: 0.6175, prev_frame_loss_waypoint_0: 0.2523, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.5233, grad_norm: 81.0583, il_score_sum: 58.5486, rl_score_sum: 58.9496, score_diff: -0.4010, il_win: 47.7000, rl_win: 37.1000
2025-09-24 03:39:19,037 - mmdet - INFO - Epoch [4][3440/3517]	lr: 4.810e-05, eta: 15:42:42, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.3071, debug_std_frame_0: 0.3619, debug_std_frame_1: 0.3858, debug_std_frame_2: 0.4255, debug_std_frame_3: 0.4710, debug_std_frame_4: 0.5217, debug_std_frame_5: 0.5862, loss_rl: -0.1703, loss_critic: 1.4561, loss_rl_bc: 0.0277, il_score: 0.5455, rl_score: 0.5908, prev_frame_loss_waypoint_0: 0.3191, prev_frame_loss_rl_bc_0: 0.0248, loss: 1.9729, grad_norm: 114.2942, il_score_sum: 58.5486, rl_score_sum: 58.9496, score_diff: -0.4010, il_win: 47.7000, rl_win: 37.1000
2025-09-24 03:39:35,262 - mmdet - INFO - Epoch [4][3460/3517]	lr: 4.810e-05, eta: 15:42:26, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2330, debug_std_frame_0: 0.3269, debug_std_frame_1: 0.3513, debug_std_frame_2: 0.3950, debug_std_frame_3: 0.4467, debug_std_frame_4: 0.5070, debug_std_frame_5: 0.5739, loss_rl: -0.1349, loss_critic: 1.1574, loss_rl_bc: 0.0408, il_score: 0.6012, rl_score: 0.5750, prev_frame_loss_waypoint_0: 0.2516, prev_frame_loss_rl_bc_0: 0.0329, loss: 1.5891, grad_norm: 89.5104, il_score_sum: 58.5696, rl_score_sum: 58.9051, score_diff: -0.3355, il_win: 47.9000, rl_win: 37.5000
2025-09-24 03:39:51,171 - mmdet - INFO - Epoch [4][3480/3517]	lr: 4.810e-05, eta: 15:42:10, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2133, debug_std_frame_0: 0.3573, debug_std_frame_1: 0.3784, debug_std_frame_2: 0.4178, debug_std_frame_3: 0.4644, debug_std_frame_4: 0.5307, debug_std_frame_5: 0.5964, loss_rl: -0.1888, loss_critic: 1.1256, loss_rl_bc: 0.0264, il_score: 0.6029, rl_score: 0.5998, prev_frame_loss_waypoint_0: 0.2368, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.4449, grad_norm: 65.0760, il_score_sum: 58.5696, rl_score_sum: 58.9051, score_diff: -0.3355, il_win: 47.9000, rl_win: 37.5000
2025-09-24 03:40:07,079 - mmdet - INFO - Epoch [4][3500/3517]	lr: 4.810e-05, eta: 15:41:53, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2266, debug_std_frame_0: 0.3123, debug_std_frame_1: 0.3384, debug_std_frame_2: 0.3901, debug_std_frame_3: 0.4456, debug_std_frame_4: 0.5147, debug_std_frame_5: 0.5879, loss_rl: -0.2265, loss_critic: 1.3753, loss_rl_bc: 0.0221, il_score: 0.5997, rl_score: 0.5926, prev_frame_loss_waypoint_0: 0.2461, prev_frame_loss_rl_bc_0: 0.0267, loss: 1.6785, grad_norm: 69.4056, il_score_sum: 58.5696, rl_score_sum: 58.9051, score_diff: -0.3355, il_win: 47.9000, rl_win: 37.5000
2025-09-24 03:40:20,232 - mmdet - INFO - Saving checkpoint at 4 epochs
2025-09-24 03:42:54,186 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 03:42:54,186 - mmdet - INFO - Epoch(val) [4][753]	plan_L2_1s: 0.5388, plan_L2_2s: 0.9314, plan_L2_3s: 1.3959, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0001, plan_obj_col_3s: 0.0002, plan_obj_box_col_1s: 0.0008, plan_obj_box_col_2s: 0.0043, plan_obj_box_col_3s: 0.0119, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.5357, plan_L2_2s_rl_actor: 0.9374, plan_L2_3s_rl_actor: 1.4185, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0001, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0044, plan_obj_box_col_2s_rl_actor: 0.0084, plan_obj_box_col_3s_rl_actor: 0.0140, fut_valid_flag_rl_actor: 1.0000
2025-09-24 03:43:18,955 - mmdet - INFO - Epoch [5][20/3517]	lr: 4.665e-05, eta: 15:40:58, time: 1.237, data_time: 0.342, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2076, debug_std_frame_0: 0.3104, debug_std_frame_1: 0.3426, debug_std_frame_2: 0.3919, debug_std_frame_3: 0.4487, debug_std_frame_4: 0.5080, debug_std_frame_5: 0.5716, loss_rl: -0.2236, loss_critic: 1.4033, loss_rl_bc: 0.0216, il_score: 0.6265, rl_score: 0.6116, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0238, loss: 1.6706, grad_norm: 57.5125
2025-09-24 03:43:36,159 - mmdet - INFO - Epoch [5][40/3517]	lr: 4.665e-05, eta: 15:40:48, time: 0.860, data_time: 0.015, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.3200, debug_std_frame_0: 0.3236, debug_std_frame_1: 0.3554, debug_std_frame_2: 0.4039, debug_std_frame_3: 0.4637, debug_std_frame_4: 0.5160, debug_std_frame_5: 0.5806, loss_rl: -0.1124, loss_critic: 1.4858, loss_rl_bc: 0.0421, il_score: 0.4968, rl_score: 0.5060, prev_frame_loss_waypoint_0: 0.3530, prev_frame_loss_rl_bc_0: 0.0455, loss: 2.1422, grad_norm: 115.0213, il_score_sum: 59.5993, rl_score_sum: 58.1228, score_diff: 1.4765, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:43:52,698 - mmdet - INFO - Epoch [5][60/3517]	lr: 4.665e-05, eta: 15:40:34, time: 0.827, data_time: 0.015, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2956, debug_std_frame_0: 0.3433, debug_std_frame_1: 0.3732, debug_std_frame_2: 0.4175, debug_std_frame_3: 0.4683, debug_std_frame_4: 0.5189, debug_std_frame_5: 0.5794, loss_rl: -0.1554, loss_critic: 1.3695, loss_rl_bc: 0.0314, il_score: 0.5678, rl_score: 0.5993, prev_frame_loss_waypoint_0: 0.3180, prev_frame_loss_rl_bc_0: 0.0343, loss: 1.9015, grad_norm: 109.5608, il_score_sum: 59.5993, rl_score_sum: 58.1228, score_diff: 1.4765, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:44:09,519 - mmdet - INFO - Epoch [5][80/3517]	lr: 4.665e-05, eta: 15:40:22, time: 0.841, data_time: 0.014, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2722, debug_std_frame_0: 0.3617, debug_std_frame_1: 0.3885, debug_std_frame_2: 0.4318, debug_std_frame_3: 0.4833, debug_std_frame_4: 0.5324, debug_std_frame_5: 0.5913, loss_rl: -0.1997, loss_critic: 1.3177, loss_rl_bc: 0.0277, il_score: 0.5698, rl_score: 0.6169, prev_frame_loss_waypoint_0: 0.2742, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.7305, grad_norm: 87.1462, il_score_sum: 59.5993, rl_score_sum: 58.1228, score_diff: 1.4765, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:44:25,999 - mmdet - INFO - Epoch [5][100/3517]	lr: 4.665e-05, eta: 15:40:08, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2499, debug_std_frame_0: 0.3521, debug_std_frame_1: 0.3829, debug_std_frame_2: 0.4293, debug_std_frame_3: 0.4828, debug_std_frame_4: 0.5328, debug_std_frame_5: 0.5930, loss_rl: -0.1047, loss_critic: 1.5761, loss_rl_bc: 0.0411, il_score: 0.5820, rl_score: 0.5302, prev_frame_loss_waypoint_0: 0.2668, prev_frame_loss_rl_bc_0: 0.0432, loss: 2.0809, grad_norm: 74.6878, il_score_sum: 59.5993, rl_score_sum: 58.1228, score_diff: 1.4765, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:44:42,577 - mmdet - INFO - Epoch [5][120/3517]	lr: 4.665e-05, eta: 15:39:54, time: 0.829, data_time: 0.014, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2329, debug_std_frame_0: 0.3627, debug_std_frame_1: 0.3894, debug_std_frame_2: 0.4310, debug_std_frame_3: 0.4816, debug_std_frame_4: 0.5374, debug_std_frame_5: 0.5970, loss_rl: -0.2018, loss_critic: 1.3054, loss_rl_bc: 0.0274, il_score: 0.5885, rl_score: 0.5881, prev_frame_loss_waypoint_0: 0.2375, prev_frame_loss_rl_bc_0: 0.0291, loss: 1.6387, grad_norm: 54.5760, il_score_sum: 59.5993, rl_score_sum: 58.1228, score_diff: 1.4765, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:44:59,415 - mmdet - INFO - Epoch [5][140/3517]	lr: 4.665e-05, eta: 15:39:42, time: 0.842, data_time: 0.015, memory: 8550, loss_rec: 0.0083, loss_waypoint: 0.2089, debug_std_frame_0: 0.3492, debug_std_frame_1: 0.3749, debug_std_frame_2: 0.4190, debug_std_frame_3: 0.4805, debug_std_frame_4: 0.5416, debug_std_frame_5: 0.6015, loss_rl: -0.1906, loss_critic: 1.0988, loss_rl_bc: 0.0256, il_score: 0.6002, rl_score: 0.5975, prev_frame_loss_waypoint_0: 0.2277, prev_frame_loss_rl_bc_0: 0.0333, loss: 1.4119, grad_norm: 57.9213, il_score_sum: 58.3797, rl_score_sum: 57.9738, score_diff: 0.4059, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:45:15,585 - mmdet - INFO - Epoch [5][160/3517]	lr: 4.665e-05, eta: 15:39:26, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0076, loss_waypoint: 0.2411, debug_std_frame_0: 0.3318, debug_std_frame_1: 0.3612, debug_std_frame_2: 0.4098, debug_std_frame_3: 0.4743, debug_std_frame_4: 0.5329, debug_std_frame_5: 0.5961, loss_rl: -0.1604, loss_critic: 1.1591, loss_rl_bc: 0.0277, il_score: 0.5604, rl_score: 0.5840, prev_frame_loss_waypoint_0: 0.2643, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.5699, grad_norm: 86.7107, il_score_sum: 58.3797, rl_score_sum: 57.9738, score_diff: 0.4059, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:45:32,071 - mmdet - INFO - Epoch [5][180/3517]	lr: 4.665e-05, eta: 15:39:13, time: 0.825, data_time: 0.014, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2342, debug_std_frame_0: 0.3267, debug_std_frame_1: 0.3536, debug_std_frame_2: 0.3966, debug_std_frame_3: 0.4605, debug_std_frame_4: 0.5221, debug_std_frame_5: 0.5893, loss_rl: -0.1461, loss_critic: 1.0630, loss_rl_bc: 0.0306, il_score: 0.5958, rl_score: 0.5678, prev_frame_loss_waypoint_0: 0.2344, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.4544, grad_norm: 59.5477, il_score_sum: 58.3797, rl_score_sum: 57.9738, score_diff: 0.4059, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:45:48,787 - mmdet - INFO - Epoch [5][200/3517]	lr: 4.665e-05, eta: 15:39:00, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2401, debug_std_frame_0: 0.3391, debug_std_frame_1: 0.3618, debug_std_frame_2: 0.4001, debug_std_frame_3: 0.4566, debug_std_frame_4: 0.5203, debug_std_frame_5: 0.5872, loss_rl: -0.1746, loss_critic: 1.2001, loss_rl_bc: 0.0263, il_score: 0.6033, rl_score: 0.5951, prev_frame_loss_waypoint_0: 0.2330, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.5557, grad_norm: 81.4994, il_score_sum: 58.3797, rl_score_sum: 57.9738, score_diff: 0.4059, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:46:05,414 - mmdet - INFO - Epoch [5][220/3517]	lr: 4.665e-05, eta: 15:38:46, time: 0.831, data_time: 0.013, memory: 8550, loss_rec: 0.0082, loss_waypoint: 0.2853, debug_std_frame_0: 0.3445, debug_std_frame_1: 0.3760, debug_std_frame_2: 0.4240, debug_std_frame_3: 0.4880, debug_std_frame_4: 0.5553, debug_std_frame_5: 0.6191, loss_rl: -0.1610, loss_critic: 1.0263, loss_rl_bc: 0.0345, il_score: 0.5482, rl_score: 0.5607, prev_frame_loss_waypoint_0: 0.2862, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.5071, grad_norm: 91.1099, il_score_sum: 58.3797, rl_score_sum: 57.9738, score_diff: 0.4059, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:46:22,299 - mmdet - INFO - Epoch [5][240/3517]	lr: 4.665e-05, eta: 15:38:34, time: 0.845, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2302, debug_std_frame_0: 0.3477, debug_std_frame_1: 0.3879, debug_std_frame_2: 0.4432, debug_std_frame_3: 0.5086, debug_std_frame_4: 0.5784, debug_std_frame_5: 0.6429, loss_rl: -0.1753, loss_critic: 1.4606, loss_rl_bc: 0.0301, il_score: 0.6123, rl_score: 0.6043, prev_frame_loss_waypoint_0: 0.2578, prev_frame_loss_rl_bc_0: 0.0330, loss: 1.8451, grad_norm: 70.0096, il_score_sum: 58.3653, rl_score_sum: 58.0501, score_diff: 0.3152, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:46:38,800 - mmdet - INFO - Epoch [5][260/3517]	lr: 4.665e-05, eta: 15:38:20, time: 0.825, data_time: 0.014, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2443, debug_std_frame_0: 0.3467, debug_std_frame_1: 0.3806, debug_std_frame_2: 0.4362, debug_std_frame_3: 0.5015, debug_std_frame_4: 0.5682, debug_std_frame_5: 0.6329, loss_rl: -0.1696, loss_critic: 1.1030, loss_rl_bc: 0.0292, il_score: 0.5563, rl_score: 0.5729, prev_frame_loss_waypoint_0: 0.2701, prev_frame_loss_rl_bc_0: 0.0338, loss: 1.5195, grad_norm: 63.1628, il_score_sum: 58.3653, rl_score_sum: 58.0501, score_diff: 0.3152, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:46:55,281 - mmdet - INFO - Epoch [5][280/3517]	lr: 4.665e-05, eta: 15:38:06, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2137, debug_std_frame_0: 0.3083, debug_std_frame_1: 0.3365, debug_std_frame_2: 0.3872, debug_std_frame_3: 0.4476, debug_std_frame_4: 0.5115, debug_std_frame_5: 0.5800, loss_rl: -0.1830, loss_critic: 1.3623, loss_rl_bc: 0.0244, il_score: 0.6239, rl_score: 0.6084, prev_frame_loss_waypoint_0: 0.2272, prev_frame_loss_rl_bc_0: 0.0274, loss: 1.6800, grad_norm: 64.8211, il_score_sum: 58.3653, rl_score_sum: 58.0501, score_diff: 0.3152, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:47:11,945 - mmdet - INFO - Epoch [5][300/3517]	lr: 4.665e-05, eta: 15:37:53, time: 0.833, data_time: 0.014, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2094, debug_std_frame_0: 0.2996, debug_std_frame_1: 0.3301, debug_std_frame_2: 0.3815, debug_std_frame_3: 0.4415, debug_std_frame_4: 0.5097, debug_std_frame_5: 0.5825, loss_rl: -0.1647, loss_critic: 1.2855, loss_rl_bc: 0.0277, il_score: 0.6173, rl_score: 0.5754, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0296, loss: 1.6170, grad_norm: 56.7568, il_score_sum: 58.3653, rl_score_sum: 58.0501, score_diff: 0.3152, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:47:28,368 - mmdet - INFO - Epoch [5][320/3517]	lr: 4.665e-05, eta: 15:37:39, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2343, debug_std_frame_0: 0.3272, debug_std_frame_1: 0.3529, debug_std_frame_2: 0.3977, debug_std_frame_3: 0.4516, debug_std_frame_4: 0.5213, debug_std_frame_5: 0.5902, loss_rl: -0.2356, loss_critic: 1.3551, loss_rl_bc: 0.0220, il_score: 0.5903, rl_score: 0.6000, prev_frame_loss_waypoint_0: 0.2502, prev_frame_loss_rl_bc_0: 0.0268, loss: 1.6607, grad_norm: 65.3325, il_score_sum: 58.3653, rl_score_sum: 58.0501, score_diff: 0.3152, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:47:44,952 - mmdet - INFO - Epoch [5][340/3517]	lr: 4.665e-05, eta: 15:37:25, time: 0.829, data_time: 0.013, memory: 8550, loss_rec: 0.0078, loss_waypoint: 0.2317, debug_std_frame_0: 0.3048, debug_std_frame_1: 0.3293, debug_std_frame_2: 0.3720, debug_std_frame_3: 0.4220, debug_std_frame_4: 0.4846, debug_std_frame_5: 0.5537, loss_rl: -0.1915, loss_critic: 1.4176, loss_rl_bc: 0.0252, il_score: 0.5902, rl_score: 0.5990, prev_frame_loss_waypoint_0: 0.2395, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.7581, grad_norm: 68.2235, il_score_sum: 58.6825, rl_score_sum: 58.2739, score_diff: 0.4086, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:48:01,609 - mmdet - INFO - Epoch [5][360/3517]	lr: 4.665e-05, eta: 15:37:12, time: 0.833, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2134, debug_std_frame_0: 0.3190, debug_std_frame_1: 0.3476, debug_std_frame_2: 0.3961, debug_std_frame_3: 0.4481, debug_std_frame_4: 0.5141, debug_std_frame_5: 0.5787, loss_rl: -0.1553, loss_critic: 1.3308, loss_rl_bc: 0.0261, il_score: 0.6167, rl_score: 0.5959, prev_frame_loss_waypoint_0: 0.2310, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.6821, grad_norm: 54.9827, il_score_sum: 58.6825, rl_score_sum: 58.2739, score_diff: 0.4086, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:48:18,106 - mmdet - INFO - Epoch [5][380/3517]	lr: 4.665e-05, eta: 15:36:58, time: 0.825, data_time: 0.014, memory: 8550, loss_rec: 0.0080, loss_waypoint: 0.2058, debug_std_frame_0: 0.3279, debug_std_frame_1: 0.3534, debug_std_frame_2: 0.3945, debug_std_frame_3: 0.4454, debug_std_frame_4: 0.5058, debug_std_frame_5: 0.5727, loss_rl: -0.1820, loss_critic: 1.1407, loss_rl_bc: 0.0234, il_score: 0.6424, rl_score: 0.6259, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.4482, grad_norm: 55.6193, il_score_sum: 58.6825, rl_score_sum: 58.2739, score_diff: 0.4086, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:48:34,508 - mmdet - INFO - Epoch [5][400/3517]	lr: 4.665e-05, eta: 15:36:44, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2521, debug_std_frame_0: 0.3107, debug_std_frame_1: 0.3385, debug_std_frame_2: 0.3803, debug_std_frame_3: 0.4361, debug_std_frame_4: 0.4971, debug_std_frame_5: 0.5662, loss_rl: -0.1753, loss_critic: 1.2074, loss_rl_bc: 0.0270, il_score: 0.5614, rl_score: 0.5772, prev_frame_loss_waypoint_0: 0.2624, prev_frame_loss_rl_bc_0: 0.0289, loss: 1.6113, grad_norm: 72.0903, il_score_sum: 58.6825, rl_score_sum: 58.2739, score_diff: 0.4086, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:48:50,939 - mmdet - INFO - Epoch [5][420/3517]	lr: 4.665e-05, eta: 15:36:29, time: 0.822, data_time: 0.014, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2100, debug_std_frame_0: 0.2894, debug_std_frame_1: 0.3171, debug_std_frame_2: 0.3599, debug_std_frame_3: 0.4194, debug_std_frame_4: 0.4878, debug_std_frame_5: 0.5605, loss_rl: -0.2028, loss_critic: 1.3557, loss_rl_bc: 0.0232, il_score: 0.6050, rl_score: 0.6186, prev_frame_loss_waypoint_0: 0.1972, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.6095, grad_norm: 64.7980, il_score_sum: 58.6825, rl_score_sum: 58.2739, score_diff: 0.4086, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:49:07,647 - mmdet - INFO - Epoch [5][440/3517]	lr: 4.665e-05, eta: 15:36:16, time: 0.835, data_time: 0.012, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2554, debug_std_frame_0: 0.2892, debug_std_frame_1: 0.3207, debug_std_frame_2: 0.3657, debug_std_frame_3: 0.4250, debug_std_frame_4: 0.4923, debug_std_frame_5: 0.5651, loss_rl: -0.2486, loss_critic: 1.2074, loss_rl_bc: 0.0189, il_score: 0.5886, rl_score: 0.6370, prev_frame_loss_waypoint_0: 0.2721, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.5365, grad_norm: 104.4459, il_score_sum: 58.9438, rl_score_sum: 58.7703, score_diff: 0.1735, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:49:24,126 - mmdet - INFO - Epoch [5][460/3517]	lr: 4.665e-05, eta: 15:36:02, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2904, debug_std_frame_0: 0.2865, debug_std_frame_1: 0.3203, debug_std_frame_2: 0.3692, debug_std_frame_3: 0.4323, debug_std_frame_4: 0.4997, debug_std_frame_5: 0.5735, loss_rl: -0.2109, loss_critic: 1.1995, loss_rl_bc: 0.0218, il_score: 0.5754, rl_score: 0.6286, prev_frame_loss_waypoint_0: 0.2904, prev_frame_loss_rl_bc_0: 0.0211, loss: 1.6207, grad_norm: 107.4575, il_score_sum: 58.9438, rl_score_sum: 58.7703, score_diff: 0.1735, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:49:40,358 - mmdet - INFO - Epoch [5][480/3517]	lr: 4.665e-05, eta: 15:35:47, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0079, loss_waypoint: 0.2180, debug_std_frame_0: 0.2643, debug_std_frame_1: 0.2961, debug_std_frame_2: 0.3479, debug_std_frame_3: 0.4088, debug_std_frame_4: 0.4755, debug_std_frame_5: 0.5509, loss_rl: -0.1787, loss_critic: 1.3002, loss_rl_bc: 0.0183, il_score: 0.6015, rl_score: 0.6073, prev_frame_loss_waypoint_0: 0.2397, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.6239, grad_norm: 73.0291, il_score_sum: 58.9438, rl_score_sum: 58.7703, score_diff: 0.1735, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:49:56,677 - mmdet - INFO - Epoch [5][500/3517]	lr: 4.665e-05, eta: 15:35:32, time: 0.816, data_time: 0.014, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2325, debug_std_frame_0: 0.3061, debug_std_frame_1: 0.3369, debug_std_frame_2: 0.3787, debug_std_frame_3: 0.4327, debug_std_frame_4: 0.4873, debug_std_frame_5: 0.5555, loss_rl: -0.1860, loss_critic: 1.2716, loss_rl_bc: 0.0279, il_score: 0.6024, rl_score: 0.5996, prev_frame_loss_waypoint_0: 0.2609, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.6431, grad_norm: 65.4172, il_score_sum: 58.9438, rl_score_sum: 58.7703, score_diff: 0.1735, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:50:13,050 - mmdet - INFO - Epoch [5][520/3517]	lr: 4.665e-05, eta: 15:35:17, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2129, debug_std_frame_0: 0.3269, debug_std_frame_1: 0.3637, debug_std_frame_2: 0.4094, debug_std_frame_3: 0.4646, debug_std_frame_4: 0.5258, debug_std_frame_5: 0.5896, loss_rl: -0.1899, loss_critic: 1.2961, loss_rl_bc: 0.0258, il_score: 0.5901, rl_score: 0.5802, prev_frame_loss_waypoint_0: 0.2425, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.6241, grad_norm: 58.6470, il_score_sum: 58.9438, rl_score_sum: 58.7703, score_diff: 0.1735, il_win: 51.0000, rl_win: 40.0000
2025-09-24 03:50:29,571 - mmdet - INFO - Epoch [5][540/3517]	lr: 4.665e-05, eta: 15:35:03, time: 0.826, data_time: 0.014, memory: 8550, loss_rec: 0.0081, loss_waypoint: 0.2151, debug_std_frame_0: 0.3049, debug_std_frame_1: 0.3318, debug_std_frame_2: 0.3721, debug_std_frame_3: 0.4193, debug_std_frame_4: 0.4790, debug_std_frame_5: 0.5439, loss_rl: -0.2330, loss_critic: 1.3635, loss_rl_bc: 0.0210, il_score: 0.6362, rl_score: 0.6408, prev_frame_loss_waypoint_0: 0.2111, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.6086, grad_norm: 71.6399, il_score_sum: 59.1426, rl_score_sum: 59.2450, score_diff: -0.1024, il_win: 51.0000, rl_win: 40.1667
2025-09-24 03:50:45,763 - mmdet - INFO - Epoch [5][560/3517]	lr: 4.665e-05, eta: 15:34:48, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2861, debug_std_frame_0: 0.3061, debug_std_frame_1: 0.3416, debug_std_frame_2: 0.3978, debug_std_frame_3: 0.4570, debug_std_frame_4: 0.5218, debug_std_frame_5: 0.5916, loss_rl: -0.1193, loss_critic: 1.2387, loss_rl_bc: 0.0345, il_score: 0.5282, rl_score: 0.5751, prev_frame_loss_waypoint_0: 0.3206, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.8048, grad_norm: 79.9890, il_score_sum: 59.1426, rl_score_sum: 59.2450, score_diff: -0.1024, il_win: 51.0000, rl_win: 40.1667
2025-09-24 03:51:01,927 - mmdet - INFO - Epoch [5][580/3517]	lr: 4.665e-05, eta: 15:34:32, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2692, debug_std_frame_0: 0.3173, debug_std_frame_1: 0.3543, debug_std_frame_2: 0.4105, debug_std_frame_3: 0.4622, debug_std_frame_4: 0.5297, debug_std_frame_5: 0.5934, loss_rl: -0.2206, loss_critic: 1.3446, loss_rl_bc: 0.0225, il_score: 0.5374, rl_score: 0.5922, prev_frame_loss_waypoint_0: 0.3009, prev_frame_loss_rl_bc_0: 0.0326, loss: 1.7582, grad_norm: 93.1714, il_score_sum: 59.1426, rl_score_sum: 59.2450, score_diff: -0.1024, il_win: 51.0000, rl_win: 40.1667
2025-09-24 03:51:18,218 - mmdet - INFO - Epoch [5][600/3517]	lr: 4.665e-05, eta: 15:34:17, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2285, debug_std_frame_0: 0.3014, debug_std_frame_1: 0.3383, debug_std_frame_2: 0.3938, debug_std_frame_3: 0.4457, debug_std_frame_4: 0.5119, debug_std_frame_5: 0.5759, loss_rl: -0.1894, loss_critic: 1.2054, loss_rl_bc: 0.0293, il_score: 0.5757, rl_score: 0.5773, prev_frame_loss_waypoint_0: 0.2461, prev_frame_loss_rl_bc_0: 0.0304, loss: 1.5593, grad_norm: 80.2619, il_score_sum: 59.1426, rl_score_sum: 59.2450, score_diff: -0.1024, il_win: 51.0000, rl_win: 40.1667
2025-09-24 03:51:34,444 - mmdet - INFO - Epoch [5][620/3517]	lr: 4.665e-05, eta: 15:34:02, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2123, debug_std_frame_0: 0.3305, debug_std_frame_1: 0.3638, debug_std_frame_2: 0.4127, debug_std_frame_3: 0.4560, debug_std_frame_4: 0.5187, debug_std_frame_5: 0.5761, loss_rl: -0.1758, loss_critic: 1.4432, loss_rl_bc: 0.0284, il_score: 0.5890, rl_score: 0.5712, prev_frame_loss_waypoint_0: 0.2444, prev_frame_loss_rl_bc_0: 0.0367, loss: 1.7979, grad_norm: 68.7823, il_score_sum: 59.1426, rl_score_sum: 59.2450, score_diff: -0.1024, il_win: 51.0000, rl_win: 40.1667
2025-09-24 03:51:50,806 - mmdet - INFO - Epoch [5][640/3517]	lr: 4.665e-05, eta: 15:33:47, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2460, debug_std_frame_0: 0.3661, debug_std_frame_1: 0.3988, debug_std_frame_2: 0.4453, debug_std_frame_3: 0.4881, debug_std_frame_4: 0.5497, debug_std_frame_5: 0.6032, loss_rl: -0.1742, loss_critic: 1.2066, loss_rl_bc: 0.0376, il_score: 0.6055, rl_score: 0.5667, prev_frame_loss_waypoint_0: 0.2569, prev_frame_loss_rl_bc_0: 0.0320, loss: 1.6138, grad_norm: 77.0738, il_score_sum: 58.8318, rl_score_sum: 59.0578, score_diff: -0.2259, il_win: 51.0000, rl_win: 40.2857
2025-09-24 03:52:06,898 - mmdet - INFO - Epoch [5][660/3517]	lr: 4.665e-05, eta: 15:33:31, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2260, debug_std_frame_0: 0.3690, debug_std_frame_1: 0.3971, debug_std_frame_2: 0.4408, debug_std_frame_3: 0.4826, debug_std_frame_4: 0.5489, debug_std_frame_5: 0.6026, loss_rl: -0.1830, loss_critic: 1.3415, loss_rl_bc: 0.0295, il_score: 0.5934, rl_score: 0.5867, prev_frame_loss_waypoint_0: 0.2407, prev_frame_loss_rl_bc_0: 0.0365, loss: 1.6998, grad_norm: 57.1870, il_score_sum: 58.8318, rl_score_sum: 59.0578, score_diff: -0.2259, il_win: 51.0000, rl_win: 40.2857
2025-09-24 03:52:23,249 - mmdet - INFO - Epoch [5][680/3517]	lr: 4.665e-05, eta: 15:33:16, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2121, debug_std_frame_0: 0.3502, debug_std_frame_1: 0.3836, debug_std_frame_2: 0.4351, debug_std_frame_3: 0.4904, debug_std_frame_4: 0.5518, debug_std_frame_5: 0.6066, loss_rl: -0.1448, loss_critic: 1.3359, loss_rl_bc: 0.0290, il_score: 0.6221, rl_score: 0.5749, prev_frame_loss_waypoint_0: 0.2251, prev_frame_loss_rl_bc_0: 0.0286, loss: 1.6946, grad_norm: 48.6991, il_score_sum: 58.8318, rl_score_sum: 59.0578, score_diff: -0.2259, il_win: 51.0000, rl_win: 40.2857
2025-09-24 03:52:39,510 - mmdet - INFO - Epoch [5][700/3517]	lr: 4.665e-05, eta: 15:33:01, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2348, debug_std_frame_0: 0.3269, debug_std_frame_1: 0.3599, debug_std_frame_2: 0.4120, debug_std_frame_3: 0.4637, debug_std_frame_4: 0.5251, debug_std_frame_5: 0.5810, loss_rl: -0.2149, loss_critic: 1.4686, loss_rl_bc: 0.0301, il_score: 0.5673, rl_score: 0.5661, prev_frame_loss_waypoint_0: 0.2548, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.8104, grad_norm: 65.6525, il_score_sum: 58.8318, rl_score_sum: 59.0578, score_diff: -0.2259, il_win: 51.0000, rl_win: 40.2857
2025-09-24 03:52:55,643 - mmdet - INFO - Epoch [5][720/3517]	lr: 4.665e-05, eta: 15:32:45, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2252, debug_std_frame_0: 0.3242, debug_std_frame_1: 0.3589, debug_std_frame_2: 0.4122, debug_std_frame_3: 0.4645, debug_std_frame_4: 0.5280, debug_std_frame_5: 0.5832, loss_rl: -0.1405, loss_critic: 1.3450, loss_rl_bc: 0.0272, il_score: 0.5582, rl_score: 0.5525, prev_frame_loss_waypoint_0: 0.2458, prev_frame_loss_rl_bc_0: 0.0321, loss: 1.7437, grad_norm: 66.4967, il_score_sum: 58.8318, rl_score_sum: 59.0578, score_diff: -0.2259, il_win: 51.0000, rl_win: 40.2857
2025-09-24 03:53:11,841 - mmdet - INFO - Epoch [5][740/3517]	lr: 4.665e-05, eta: 15:32:30, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2502, debug_std_frame_0: 0.3271, debug_std_frame_1: 0.3613, debug_std_frame_2: 0.4102, debug_std_frame_3: 0.4610, debug_std_frame_4: 0.5247, debug_std_frame_5: 0.5822, loss_rl: -0.2229, loss_critic: 1.4290, loss_rl_bc: 0.0261, il_score: 0.5814, rl_score: 0.6081, prev_frame_loss_waypoint_0: 0.2585, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.7778, grad_norm: 77.8343, il_score_sum: 58.7604, rl_score_sum: 58.8148, score_diff: -0.0544, il_win: 51.1250, rl_win: 40.3750
2025-09-24 03:53:28,062 - mmdet - INFO - Epoch [5][760/3517]	lr: 4.665e-05, eta: 15:32:14, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2685, debug_std_frame_0: 0.3098, debug_std_frame_1: 0.3429, debug_std_frame_2: 0.3882, debug_std_frame_3: 0.4365, debug_std_frame_4: 0.4922, debug_std_frame_5: 0.5514, loss_rl: -0.2092, loss_critic: 1.5291, loss_rl_bc: 0.0213, il_score: 0.5254, rl_score: 0.6058, prev_frame_loss_waypoint_0: 0.2935, prev_frame_loss_rl_bc_0: 0.0225, loss: 1.9349, grad_norm: 98.7337, il_score_sum: 58.7604, rl_score_sum: 58.8148, score_diff: -0.0544, il_win: 51.1250, rl_win: 40.3750
2025-09-24 03:53:44,011 - mmdet - INFO - Epoch [5][780/3517]	lr: 4.665e-05, eta: 15:31:57, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2140, debug_std_frame_0: 0.2894, debug_std_frame_1: 0.3207, debug_std_frame_2: 0.3672, debug_std_frame_3: 0.4162, debug_std_frame_4: 0.4750, debug_std_frame_5: 0.5367, loss_rl: -0.1770, loss_critic: 1.3499, loss_rl_bc: 0.0210, il_score: 0.6184, rl_score: 0.6181, prev_frame_loss_waypoint_0: 0.2236, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.6626, grad_norm: 71.0779, il_score_sum: 58.7604, rl_score_sum: 58.8148, score_diff: -0.0544, il_win: 51.1250, rl_win: 40.3750
2025-09-24 03:54:00,020 - mmdet - INFO - Epoch [5][800/3517]	lr: 4.665e-05, eta: 15:31:41, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0084, loss_waypoint: 0.2075, debug_std_frame_0: 0.2879, debug_std_frame_1: 0.3222, debug_std_frame_2: 0.3690, debug_std_frame_3: 0.4205, debug_std_frame_4: 0.4750, debug_std_frame_5: 0.5402, loss_rl: -0.2329, loss_critic: 1.7832, loss_rl_bc: 0.0223, il_score: 0.6399, rl_score: 0.6173, prev_frame_loss_waypoint_0: 0.2141, prev_frame_loss_rl_bc_0: 0.0191, loss: 2.0217, grad_norm: 61.3251, il_score_sum: 58.7604, rl_score_sum: 58.8148, score_diff: -0.0544, il_win: 51.1250, rl_win: 40.3750
2025-09-24 03:54:16,220 - mmdet - INFO - Epoch [5][820/3517]	lr: 4.665e-05, eta: 15:31:26, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.2106, debug_std_frame_0: 0.2742, debug_std_frame_1: 0.3027, debug_std_frame_2: 0.3506, debug_std_frame_3: 0.4032, debug_std_frame_4: 0.4611, debug_std_frame_5: 0.5294, loss_rl: -0.2013, loss_critic: 1.1695, loss_rl_bc: 0.0216, il_score: 0.6464, rl_score: 0.6683, prev_frame_loss_waypoint_0: 0.2258, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.4544, grad_norm: 47.0090, il_score_sum: 58.7604, rl_score_sum: 58.8148, score_diff: -0.0544, il_win: 51.1250, rl_win: 40.3750
2025-09-24 03:54:32,625 - mmdet - INFO - Epoch [5][840/3517]	lr: 4.665e-05, eta: 15:31:11, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0088, loss_waypoint: 0.1797, debug_std_frame_0: 0.2614, debug_std_frame_1: 0.2865, debug_std_frame_2: 0.3338, debug_std_frame_3: 0.3870, debug_std_frame_4: 0.4475, debug_std_frame_5: 0.5190, loss_rl: -0.1838, loss_critic: 1.4689, loss_rl_bc: 0.0196, il_score: 0.6602, rl_score: 0.6407, prev_frame_loss_waypoint_0: 0.2039, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.7198, grad_norm: 55.1452, il_score_sum: 59.0370, rl_score_sum: 59.2901, score_diff: -0.2531, il_win: 51.2222, rl_win: 40.5556
2025-09-24 03:54:48,846 - mmdet - INFO - Epoch [5][860/3517]	lr: 4.665e-05, eta: 15:30:56, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2353, debug_std_frame_0: 0.2629, debug_std_frame_1: 0.2994, debug_std_frame_2: 0.3503, debug_std_frame_3: 0.4094, debug_std_frame_4: 0.4788, debug_std_frame_5: 0.5472, loss_rl: -0.2329, loss_critic: 1.0944, loss_rl_bc: 0.0136, il_score: 0.5924, rl_score: 0.6334, prev_frame_loss_waypoint_0: 0.2742, prev_frame_loss_rl_bc_0: 0.0233, loss: 1.4172, grad_norm: 84.5746, il_score_sum: 59.0370, rl_score_sum: 59.2901, score_diff: -0.2531, il_win: 51.2222, rl_win: 40.5556
2025-09-24 03:55:04,931 - mmdet - INFO - Epoch [5][880/3517]	lr: 4.665e-05, eta: 15:30:40, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0086, loss_waypoint: 0.2291, debug_std_frame_0: 0.2621, debug_std_frame_1: 0.3033, debug_std_frame_2: 0.3536, debug_std_frame_3: 0.4123, debug_std_frame_4: 0.4778, debug_std_frame_5: 0.5452, loss_rl: -0.1916, loss_critic: 1.3531, loss_rl_bc: 0.0203, il_score: 0.5964, rl_score: 0.6128, prev_frame_loss_waypoint_0: 0.2667, prev_frame_loss_rl_bc_0: 0.0244, loss: 1.7107, grad_norm: 85.2431, il_score_sum: 59.0370, rl_score_sum: 59.2901, score_diff: -0.2531, il_win: 51.2222, rl_win: 40.5556
2025-09-24 03:55:21,149 - mmdet - INFO - Epoch [5][900/3517]	lr: 4.665e-05, eta: 15:30:24, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2707, debug_std_frame_0: 0.2661, debug_std_frame_1: 0.3097, debug_std_frame_2: 0.3677, debug_std_frame_3: 0.4352, debug_std_frame_4: 0.5021, debug_std_frame_5: 0.5710, loss_rl: -0.1758, loss_critic: 1.2382, loss_rl_bc: 0.0261, il_score: 0.5736, rl_score: 0.6126, prev_frame_loss_waypoint_0: 0.2938, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.6895, grad_norm: 84.8730, il_score_sum: 59.0370, rl_score_sum: 59.2901, score_diff: -0.2531, il_win: 51.2222, rl_win: 40.5556
2025-09-24 03:55:37,293 - mmdet - INFO - Epoch [5][920/3517]	lr: 4.665e-05, eta: 15:30:08, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0085, loss_waypoint: 0.2132, debug_std_frame_0: 0.2703, debug_std_frame_1: 0.3051, debug_std_frame_2: 0.3539, debug_std_frame_3: 0.4113, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5392, loss_rl: -0.1556, loss_critic: 1.0731, loss_rl_bc: 0.0180, il_score: 0.6334, rl_score: 0.6275, prev_frame_loss_waypoint_0: 0.2398, prev_frame_loss_rl_bc_0: 0.0232, loss: 1.4202, grad_norm: 60.3500, il_score_sum: 59.0370, rl_score_sum: 59.2901, score_diff: -0.2531, il_win: 51.2222, rl_win: 40.5556
2025-09-24 03:55:53,573 - mmdet - INFO - Epoch [5][940/3517]	lr: 4.665e-05, eta: 15:29:53, time: 0.814, data_time: 0.014, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2164, debug_std_frame_0: 0.3000, debug_std_frame_1: 0.3340, debug_std_frame_2: 0.3820, debug_std_frame_3: 0.4370, debug_std_frame_4: 0.4937, debug_std_frame_5: 0.5578, loss_rl: -0.0969, loss_critic: 1.2666, loss_rl_bc: 0.0376, il_score: 0.6153, rl_score: 0.5513, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0427, loss: 1.7115, grad_norm: 68.3897, il_score_sum: 59.1902, rl_score_sum: 59.4852, score_diff: -0.2950, il_win: 51.3000, rl_win: 40.7000
2025-09-24 03:56:09,922 - mmdet - INFO - Epoch [5][960/3517]	lr: 4.665e-05, eta: 15:29:38, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0087, loss_waypoint: 0.2554, debug_std_frame_0: 0.3563, debug_std_frame_1: 0.3799, debug_std_frame_2: 0.4182, debug_std_frame_3: 0.4624, debug_std_frame_4: 0.5090, debug_std_frame_5: 0.5648, loss_rl: -0.1757, loss_critic: 1.4975, loss_rl_bc: 0.0249, il_score: 0.4959, rl_score: 0.5619, prev_frame_loss_waypoint_0: 0.2825, prev_frame_loss_rl_bc_0: 0.0260, loss: 1.9194, grad_norm: 103.2915, il_score_sum: 59.1902, rl_score_sum: 59.4852, score_diff: -0.2950, il_win: 51.3000, rl_win: 40.7000
2025-09-24 03:56:26,284 - mmdet - INFO - Epoch [5][980/3517]	lr: 4.665e-05, eta: 15:29:24, time: 0.818, data_time: 0.014, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2432, debug_std_frame_0: 0.3340, debug_std_frame_1: 0.3542, debug_std_frame_2: 0.3884, debug_std_frame_3: 0.4303, debug_std_frame_4: 0.4744, debug_std_frame_5: 0.5301, loss_rl: -0.2355, loss_critic: 1.4291, loss_rl_bc: 0.0278, il_score: 0.5845, rl_score: 0.5903, prev_frame_loss_waypoint_0: 0.2560, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.7585, grad_norm: 69.2529, il_score_sum: 59.1902, rl_score_sum: 59.4852, score_diff: -0.2950, il_win: 51.3000, rl_win: 40.7000
2025-09-24 03:56:42,586 - mmdet - INFO - Epoch [5][1000/3517]	lr: 4.665e-05, eta: 15:29:09, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0093, loss_waypoint: 0.2341, debug_std_frame_0: 0.3247, debug_std_frame_1: 0.3486, debug_std_frame_2: 0.3879, debug_std_frame_3: 0.4387, debug_std_frame_4: 0.4906, debug_std_frame_5: 0.5535, loss_rl: -0.2573, loss_critic: 1.4773, loss_rl_bc: 0.0185, il_score: 0.5951, rl_score: 0.6401, prev_frame_loss_waypoint_0: 0.2792, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.7830, grad_norm: 84.3119, il_score_sum: 59.1902, rl_score_sum: 59.4852, score_diff: -0.2950, il_win: 51.3000, rl_win: 40.7000
2025-09-24 03:56:58,681 - mmdet - INFO - Epoch [5][1020/3517]	lr: 4.665e-05, eta: 15:28:53, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2593, debug_std_frame_0: 0.3003, debug_std_frame_1: 0.3253, debug_std_frame_2: 0.3685, debug_std_frame_3: 0.4211, debug_std_frame_4: 0.4708, debug_std_frame_5: 0.5316, loss_rl: -0.1711, loss_critic: 1.2444, loss_rl_bc: 0.0297, il_score: 0.5712, rl_score: 0.5917, prev_frame_loss_waypoint_0: 0.2834, prev_frame_loss_rl_bc_0: 0.0287, loss: 1.6836, grad_norm: 90.4161, il_score_sum: 59.1902, rl_score_sum: 59.4852, score_diff: -0.2950, il_win: 51.3000, rl_win: 40.7000
2025-09-24 03:57:15,078 - mmdet - INFO - Epoch [5][1040/3517]	lr: 4.665e-05, eta: 15:28:38, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2647, debug_std_frame_0: 0.3037, debug_std_frame_1: 0.3289, debug_std_frame_2: 0.3706, debug_std_frame_3: 0.4178, debug_std_frame_4: 0.4697, debug_std_frame_5: 0.5291, loss_rl: -0.1586, loss_critic: 1.4777, loss_rl_bc: 0.0309, il_score: 0.5303, rl_score: 0.5632, prev_frame_loss_waypoint_0: 0.2751, prev_frame_loss_rl_bc_0: 0.0351, loss: 1.9344, grad_norm: 102.5166, il_score_sum: 58.9504, rl_score_sum: 59.4605, score_diff: -0.5101, il_win: 51.3636, rl_win: 40.9091
2025-09-24 03:57:31,161 - mmdet - INFO - Epoch [5][1060/3517]	lr: 4.665e-05, eta: 15:28:22, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2369, debug_std_frame_0: 0.3223, debug_std_frame_1: 0.3503, debug_std_frame_2: 0.3947, debug_std_frame_3: 0.4447, debug_std_frame_4: 0.4932, debug_std_frame_5: 0.5523, loss_rl: -0.2090, loss_critic: 1.4113, loss_rl_bc: 0.0231, il_score: 0.5933, rl_score: 0.6030, prev_frame_loss_waypoint_0: 0.2643, prev_frame_loss_rl_bc_0: 0.0326, loss: 1.7690, grad_norm: 66.3691, il_score_sum: 58.9504, rl_score_sum: 59.4605, score_diff: -0.5101, il_win: 51.3636, rl_win: 40.9091
2025-09-24 03:57:47,305 - mmdet - INFO - Epoch [5][1080/3517]	lr: 4.665e-05, eta: 15:28:06, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.2058, debug_std_frame_0: 0.3106, debug_std_frame_1: 0.3369, debug_std_frame_2: 0.3799, debug_std_frame_3: 0.4289, debug_std_frame_4: 0.4793, debug_std_frame_5: 0.5350, loss_rl: -0.2173, loss_critic: 1.3905, loss_rl_bc: 0.0212, il_score: 0.6031, rl_score: 0.5951, prev_frame_loss_waypoint_0: 0.2224, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.6504, grad_norm: 59.0344, il_score_sum: 58.9504, rl_score_sum: 59.4605, score_diff: -0.5101, il_win: 51.3636, rl_win: 40.9091
2025-09-24 03:58:03,462 - mmdet - INFO - Epoch [5][1100/3517]	lr: 4.665e-05, eta: 15:27:50, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2338, debug_std_frame_0: 0.3063, debug_std_frame_1: 0.3283, debug_std_frame_2: 0.3664, debug_std_frame_3: 0.4134, debug_std_frame_4: 0.4627, debug_std_frame_5: 0.5197, loss_rl: -0.2147, loss_critic: 1.3392, loss_rl_bc: 0.0167, il_score: 0.5853, rl_score: 0.6288, prev_frame_loss_waypoint_0: 0.2435, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.6473, grad_norm: 89.2844, il_score_sum: 58.9504, rl_score_sum: 59.4605, score_diff: -0.5101, il_win: 51.3636, rl_win: 40.9091
2025-09-24 03:58:19,675 - mmdet - INFO - Epoch [5][1120/3517]	lr: 4.665e-05, eta: 15:27:35, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.2212, debug_std_frame_0: 0.2999, debug_std_frame_1: 0.3292, debug_std_frame_2: 0.3790, debug_std_frame_3: 0.4313, debug_std_frame_4: 0.4832, debug_std_frame_5: 0.5461, loss_rl: -0.1826, loss_critic: 1.4706, loss_rl_bc: 0.0209, il_score: 0.5828, rl_score: 0.5852, prev_frame_loss_waypoint_0: 0.2367, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.8030, grad_norm: 79.1337, il_score_sum: 58.9504, rl_score_sum: 59.4605, score_diff: -0.5101, il_win: 51.3636, rl_win: 40.9091
2025-09-24 03:58:36,148 - mmdet - INFO - Epoch [5][1140/3517]	lr: 4.665e-05, eta: 15:27:21, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2361, debug_std_frame_0: 0.2874, debug_std_frame_1: 0.3191, debug_std_frame_2: 0.3648, debug_std_frame_3: 0.4171, debug_std_frame_4: 0.4748, debug_std_frame_5: 0.5382, loss_rl: -0.1853, loss_critic: 1.3534, loss_rl_bc: 0.0164, il_score: 0.5994, rl_score: 0.6279, prev_frame_loss_waypoint_0: 0.2580, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.7054, grad_norm: 63.6278, il_score_sum: 58.9380, rl_score_sum: 59.5279, score_diff: -0.5899, il_win: 51.4167, rl_win: 41.1667
2025-09-24 03:58:52,343 - mmdet - INFO - Epoch [5][1160/3517]	lr: 4.665e-05, eta: 15:27:05, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0094, loss_waypoint: 0.2252, debug_std_frame_0: 0.2587, debug_std_frame_1: 0.2907, debug_std_frame_2: 0.3406, debug_std_frame_3: 0.3951, debug_std_frame_4: 0.4503, debug_std_frame_5: 0.5151, loss_rl: -0.2262, loss_critic: 1.6786, loss_rl_bc: 0.0125, il_score: 0.5680, rl_score: 0.6165, prev_frame_loss_waypoint_0: 0.2711, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.9931, grad_norm: 86.7267, il_score_sum: 58.9380, rl_score_sum: 59.5279, score_diff: -0.5899, il_win: 51.4167, rl_win: 41.1667
2025-09-24 03:59:08,582 - mmdet - INFO - Epoch [5][1180/3517]	lr: 4.665e-05, eta: 15:26:50, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2323, debug_std_frame_0: 0.2659, debug_std_frame_1: 0.2974, debug_std_frame_2: 0.3512, debug_std_frame_3: 0.4066, debug_std_frame_4: 0.4629, debug_std_frame_5: 0.5248, loss_rl: -0.1929, loss_critic: 1.4053, loss_rl_bc: 0.0290, il_score: 0.5877, rl_score: 0.5989, prev_frame_loss_waypoint_0: 0.2595, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.7710, grad_norm: 75.7898, il_score_sum: 58.9380, rl_score_sum: 59.5279, score_diff: -0.5899, il_win: 51.4167, rl_win: 41.1667
2025-09-24 03:59:24,825 - mmdet - INFO - Epoch [5][1200/3517]	lr: 4.665e-05, eta: 15:26:34, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2747, debug_std_frame_0: 0.2784, debug_std_frame_1: 0.3139, debug_std_frame_2: 0.3729, debug_std_frame_3: 0.4309, debug_std_frame_4: 0.4889, debug_std_frame_5: 0.5512, loss_rl: -0.1751, loss_critic: 1.4332, loss_rl_bc: 0.0233, il_score: 0.5360, rl_score: 0.6016, prev_frame_loss_waypoint_0: 0.2930, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.8827, grad_norm: 95.0247, il_score_sum: 58.9380, rl_score_sum: 59.5279, score_diff: -0.5899, il_win: 51.4167, rl_win: 41.1667
2025-09-24 03:59:41,014 - mmdet - INFO - Epoch [5][1220/3517]	lr: 4.665e-05, eta: 15:26:19, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.3032, debug_std_frame_0: 0.2993, debug_std_frame_1: 0.3295, debug_std_frame_2: 0.3828, debug_std_frame_3: 0.4393, debug_std_frame_4: 0.4978, debug_std_frame_5: 0.5605, loss_rl: -0.1856, loss_critic: 1.2363, loss_rl_bc: 0.0298, il_score: 0.5391, rl_score: 0.6055, prev_frame_loss_waypoint_0: 0.3107, prev_frame_loss_rl_bc_0: 0.0321, loss: 1.7362, grad_norm: 87.5591, il_score_sum: 58.9380, rl_score_sum: 59.5279, score_diff: -0.5899, il_win: 51.4167, rl_win: 41.1667
2025-09-24 03:59:57,534 - mmdet - INFO - Epoch [5][1240/3517]	lr: 4.665e-05, eta: 15:26:05, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2421, debug_std_frame_0: 0.2994, debug_std_frame_1: 0.3268, debug_std_frame_2: 0.3811, debug_std_frame_3: 0.4363, debug_std_frame_4: 0.4979, debug_std_frame_5: 0.5625, loss_rl: -0.2192, loss_critic: 1.1342, loss_rl_bc: 0.0230, il_score: 0.5956, rl_score: 0.6299, prev_frame_loss_waypoint_0: 0.2623, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.4801, grad_norm: 63.5669, il_score_sum: 58.7524, rl_score_sum: 59.6537, score_diff: -0.9013, il_win: 51.4615, rl_win: 41.4615
2025-09-24 04:00:13,731 - mmdet - INFO - Epoch [5][1260/3517]	lr: 4.665e-05, eta: 15:25:49, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2896, debug_std_frame_0: 0.2818, debug_std_frame_1: 0.3070, debug_std_frame_2: 0.3552, debug_std_frame_3: 0.4116, debug_std_frame_4: 0.4754, debug_std_frame_5: 0.5412, loss_rl: -0.2026, loss_critic: 1.3496, loss_rl_bc: 0.0226, il_score: 0.5730, rl_score: 0.6282, prev_frame_loss_waypoint_0: 0.2911, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.7848, grad_norm: 106.2865, il_score_sum: 58.7524, rl_score_sum: 59.6537, score_diff: -0.9013, il_win: 51.4615, rl_win: 41.4615
2025-09-24 04:00:29,802 - mmdet - INFO - Epoch [5][1280/3517]	lr: 4.665e-05, eta: 15:25:33, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2241, debug_std_frame_0: 0.2949, debug_std_frame_1: 0.3172, debug_std_frame_2: 0.3613, debug_std_frame_3: 0.4107, debug_std_frame_4: 0.4627, debug_std_frame_5: 0.5214, loss_rl: -0.2257, loss_critic: 1.3517, loss_rl_bc: 0.0216, il_score: 0.6073, rl_score: 0.5900, prev_frame_loss_waypoint_0: 0.2296, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.6347, grad_norm: 68.7964, il_score_sum: 58.7524, rl_score_sum: 59.6537, score_diff: -0.9013, il_win: 51.4615, rl_win: 41.4615
2025-09-24 04:00:45,902 - mmdet - INFO - Epoch [5][1300/3517]	lr: 4.665e-05, eta: 15:25:17, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2331, debug_std_frame_0: 0.3189, debug_std_frame_1: 0.3441, debug_std_frame_2: 0.3874, debug_std_frame_3: 0.4361, debug_std_frame_4: 0.4920, debug_std_frame_5: 0.5499, loss_rl: -0.2071, loss_critic: 1.5682, loss_rl_bc: 0.0231, il_score: 0.5592, rl_score: 0.5928, prev_frame_loss_waypoint_0: 0.2395, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.8884, grad_norm: 61.2623, il_score_sum: 58.7524, rl_score_sum: 59.6537, score_diff: -0.9013, il_win: 51.4615, rl_win: 41.4615
2025-09-24 04:01:01,873 - mmdet - INFO - Epoch [5][1320/3517]	lr: 4.665e-05, eta: 15:25:00, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2367, debug_std_frame_0: 0.3159, debug_std_frame_1: 0.3466, debug_std_frame_2: 0.3957, debug_std_frame_3: 0.4536, debug_std_frame_4: 0.5177, debug_std_frame_5: 0.5809, loss_rl: -0.1918, loss_critic: 1.2839, loss_rl_bc: 0.0275, il_score: 0.5763, rl_score: 0.5920, prev_frame_loss_waypoint_0: 0.2474, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.6419, grad_norm: 50.1097, il_score_sum: 58.7524, rl_score_sum: 59.6537, score_diff: -0.9013, il_win: 51.4615, rl_win: 41.4615
2025-09-24 04:01:18,111 - mmdet - INFO - Epoch [5][1340/3517]	lr: 4.665e-05, eta: 15:24:45, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2179, debug_std_frame_0: 0.2981, debug_std_frame_1: 0.3290, debug_std_frame_2: 0.3826, debug_std_frame_3: 0.4418, debug_std_frame_4: 0.5053, debug_std_frame_5: 0.5705, loss_rl: -0.1894, loss_critic: 1.4746, loss_rl_bc: 0.0255, il_score: 0.5705, rl_score: 0.5760, prev_frame_loss_waypoint_0: 0.2499, prev_frame_loss_rl_bc_0: 0.0296, loss: 1.8178, grad_norm: 53.9751, il_score_sum: 58.6677, rl_score_sum: 59.6444, score_diff: -0.9767, il_win: 51.5000, rl_win: 41.7857
2025-09-24 04:01:34,033 - mmdet - INFO - Epoch [5][1360/3517]	lr: 4.665e-05, eta: 15:24:28, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.2001, debug_std_frame_0: 0.3349, debug_std_frame_1: 0.3656, debug_std_frame_2: 0.4188, debug_std_frame_3: 0.4711, debug_std_frame_4: 0.5270, debug_std_frame_5: 0.5906, loss_rl: -0.1643, loss_critic: 1.1052, loss_rl_bc: 0.0297, il_score: 0.6406, rl_score: 0.5857, prev_frame_loss_waypoint_0: 0.2111, prev_frame_loss_rl_bc_0: 0.0348, loss: 1.4262, grad_norm: 68.4729, il_score_sum: 58.6677, rl_score_sum: 59.6444, score_diff: -0.9767, il_win: 51.5000, rl_win: 41.7857
2025-09-24 04:01:50,198 - mmdet - INFO - Epoch [5][1380/3517]	lr: 4.665e-05, eta: 15:24:12, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2474, debug_std_frame_0: 0.3473, debug_std_frame_1: 0.3723, debug_std_frame_2: 0.4173, debug_std_frame_3: 0.4687, debug_std_frame_4: 0.5236, debug_std_frame_5: 0.5866, loss_rl: -0.1089, loss_critic: 1.5954, loss_rl_bc: 0.0335, il_score: 0.5607, rl_score: 0.5362, prev_frame_loss_waypoint_0: 0.2606, prev_frame_loss_rl_bc_0: 0.0320, loss: 2.0701, grad_norm: 90.4397, il_score_sum: 58.6677, rl_score_sum: 59.6444, score_diff: -0.9767, il_win: 51.5000, rl_win: 41.7857
2025-09-24 04:02:06,482 - mmdet - INFO - Epoch [5][1400/3517]	lr: 4.665e-05, eta: 15:23:57, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0093, loss_waypoint: 0.1939, debug_std_frame_0: 0.3461, debug_std_frame_1: 0.3670, debug_std_frame_2: 0.4069, debug_std_frame_3: 0.4533, debug_std_frame_4: 0.5001, debug_std_frame_5: 0.5618, loss_rl: -0.2265, loss_critic: 1.3053, loss_rl_bc: 0.0245, il_score: 0.6362, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2270, prev_frame_loss_rl_bc_0: 0.0266, loss: 1.5602, grad_norm: 62.4308, il_score_sum: 58.6677, rl_score_sum: 59.6444, score_diff: -0.9767, il_win: 51.5000, rl_win: 41.7857
2025-09-24 04:02:22,612 - mmdet - INFO - Epoch [5][1420/3517]	lr: 4.665e-05, eta: 15:23:41, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.1869, debug_std_frame_0: 0.3459, debug_std_frame_1: 0.3660, debug_std_frame_2: 0.4042, debug_std_frame_3: 0.4450, debug_std_frame_4: 0.4903, debug_std_frame_5: 0.5493, loss_rl: -0.1754, loss_critic: 1.3990, loss_rl_bc: 0.0297, il_score: 0.6172, rl_score: 0.5587, prev_frame_loss_waypoint_0: 0.2113, prev_frame_loss_rl_bc_0: 0.0327, loss: 1.6939, grad_norm: 72.5455, il_score_sum: 58.6677, rl_score_sum: 59.6444, score_diff: -0.9767, il_win: 51.5000, rl_win: 41.7857
2025-09-24 04:02:38,923 - mmdet - INFO - Epoch [5][1440/3517]	lr: 4.665e-05, eta: 15:23:26, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0093, loss_waypoint: 0.2169, debug_std_frame_0: 0.3456, debug_std_frame_1: 0.3662, debug_std_frame_2: 0.4061, debug_std_frame_3: 0.4495, debug_std_frame_4: 0.4967, debug_std_frame_5: 0.5565, loss_rl: -0.1755, loss_critic: 1.3782, loss_rl_bc: 0.0231, il_score: 0.5908, rl_score: 0.5838, prev_frame_loss_waypoint_0: 0.2179, prev_frame_loss_rl_bc_0: 0.0247, loss: 1.6945, grad_norm: 75.8590, il_score_sum: 58.8255, rl_score_sum: 59.5267, score_diff: -0.7012, il_win: 51.6000, rl_win: 42.0667
2025-09-24 04:02:55,130 - mmdet - INFO - Epoch [5][1460/3517]	lr: 4.665e-05, eta: 15:23:11, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2396, debug_std_frame_0: 0.3373, debug_std_frame_1: 0.3573, debug_std_frame_2: 0.3966, debug_std_frame_3: 0.4382, debug_std_frame_4: 0.4813, debug_std_frame_5: 0.5368, loss_rl: -0.2424, loss_critic: 1.5297, loss_rl_bc: 0.0302, il_score: 0.5856, rl_score: 0.6141, prev_frame_loss_waypoint_0: 0.2331, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.8283, grad_norm: 82.4068, il_score_sum: 58.8255, rl_score_sum: 59.5267, score_diff: -0.7012, il_win: 51.6000, rl_win: 42.0667
2025-09-24 04:03:11,396 - mmdet - INFO - Epoch [5][1480/3517]	lr: 4.665e-05, eta: 15:22:55, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.2365, debug_std_frame_0: 0.3635, debug_std_frame_1: 0.3848, debug_std_frame_2: 0.4240, debug_std_frame_3: 0.4654, debug_std_frame_4: 0.5115, debug_std_frame_5: 0.5671, loss_rl: -0.1855, loss_critic: 1.2837, loss_rl_bc: 0.0284, il_score: 0.5836, rl_score: 0.5786, prev_frame_loss_waypoint_0: 0.2733, prev_frame_loss_rl_bc_0: 0.0386, loss: 1.6846, grad_norm: 101.9166, il_score_sum: 58.8255, rl_score_sum: 59.5267, score_diff: -0.7012, il_win: 51.6000, rl_win: 42.0667
2025-09-24 04:03:27,744 - mmdet - INFO - Epoch [5][1500/3517]	lr: 4.665e-05, eta: 15:22:40, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0089, loss_waypoint: 0.2277, debug_std_frame_0: 0.3453, debug_std_frame_1: 0.3709, debug_std_frame_2: 0.4192, debug_std_frame_3: 0.4703, debug_std_frame_4: 0.5281, debug_std_frame_5: 0.5895, loss_rl: -0.2004, loss_critic: 1.0212, loss_rl_bc: 0.0212, il_score: 0.6445, rl_score: 0.6333, prev_frame_loss_waypoint_0: 0.2552, prev_frame_loss_rl_bc_0: 0.0301, loss: 1.3638, grad_norm: 81.2476, il_score_sum: 58.8255, rl_score_sum: 59.5267, score_diff: -0.7012, il_win: 51.6000, rl_win: 42.0667
2025-09-24 04:03:43,927 - mmdet - INFO - Epoch [5][1520/3517]	lr: 4.665e-05, eta: 15:22:25, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.1920, debug_std_frame_0: 0.3253, debug_std_frame_1: 0.3507, debug_std_frame_2: 0.3946, debug_std_frame_3: 0.4412, debug_std_frame_4: 0.4945, debug_std_frame_5: 0.5561, loss_rl: -0.2219, loss_critic: 1.8774, loss_rl_bc: 0.0232, il_score: 0.5872, rl_score: 0.5772, prev_frame_loss_waypoint_0: 0.2188, prev_frame_loss_rl_bc_0: 0.0230, loss: 2.1225, grad_norm: 75.3055, il_score_sum: 58.8255, rl_score_sum: 59.5267, score_diff: -0.7012, il_win: 51.6000, rl_win: 42.0667
2025-09-24 04:04:00,522 - mmdet - INFO - Epoch [5][1540/3517]	lr: 4.665e-05, eta: 15:22:11, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2606, debug_std_frame_0: 0.3077, debug_std_frame_1: 0.3380, debug_std_frame_2: 0.3859, debug_std_frame_3: 0.4393, debug_std_frame_4: 0.4972, debug_std_frame_5: 0.5628, loss_rl: -0.1498, loss_critic: 1.3877, loss_rl_bc: 0.0331, il_score: 0.5673, rl_score: 0.5941, prev_frame_loss_waypoint_0: 0.2818, prev_frame_loss_rl_bc_0: 0.0356, loss: 1.8590, grad_norm: 82.2961, il_score_sum: 58.8558, rl_score_sum: 59.5206, score_diff: -0.6648, il_win: 51.6875, rl_win: 42.3125
2025-09-24 04:04:16,837 - mmdet - INFO - Epoch [5][1560/3517]	lr: 4.665e-05, eta: 15:21:56, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2101, debug_std_frame_0: 0.3643, debug_std_frame_1: 0.3942, debug_std_frame_2: 0.4430, debug_std_frame_3: 0.4922, debug_std_frame_4: 0.5504, debug_std_frame_5: 0.6023, loss_rl: -0.1446, loss_critic: 1.5124, loss_rl_bc: 0.0404, il_score: 0.6196, rl_score: 0.5326, prev_frame_loss_waypoint_0: 0.2271, prev_frame_loss_rl_bc_0: 0.0427, loss: 1.8979, grad_norm: 85.8567, il_score_sum: 58.8558, rl_score_sum: 59.5206, score_diff: -0.6648, il_win: 51.6875, rl_win: 42.3125
2025-09-24 04:04:33,011 - mmdet - INFO - Epoch [5][1580/3517]	lr: 4.665e-05, eta: 15:21:40, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.1945, debug_std_frame_0: 0.3731, debug_std_frame_1: 0.3987, debug_std_frame_2: 0.4419, debug_std_frame_3: 0.4897, debug_std_frame_4: 0.5461, debug_std_frame_5: 0.6021, loss_rl: -0.1992, loss_critic: 1.2444, loss_rl_bc: 0.0284, il_score: 0.6541, rl_score: 0.6006, prev_frame_loss_waypoint_0: 0.2201, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.5274, grad_norm: 59.4331, il_score_sum: 58.8558, rl_score_sum: 59.5206, score_diff: -0.6648, il_win: 51.6875, rl_win: 42.3125
2025-09-24 04:04:49,194 - mmdet - INFO - Epoch [5][1600/3517]	lr: 4.665e-05, eta: 15:21:25, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2644, debug_std_frame_0: 0.3700, debug_std_frame_1: 0.3969, debug_std_frame_2: 0.4413, debug_std_frame_3: 0.4907, debug_std_frame_4: 0.5466, debug_std_frame_5: 0.6023, loss_rl: -0.1818, loss_critic: 1.2997, loss_rl_bc: 0.0237, il_score: 0.5229, rl_score: 0.6045, prev_frame_loss_waypoint_0: 0.2890, prev_frame_loss_rl_bc_0: 0.0357, loss: 1.7418, grad_norm: 90.5781, il_score_sum: 58.8558, rl_score_sum: 59.5206, score_diff: -0.6648, il_win: 51.6875, rl_win: 42.3125
2025-09-24 04:05:05,541 - mmdet - INFO - Epoch [5][1620/3517]	lr: 4.665e-05, eta: 15:21:10, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2988, debug_std_frame_0: 0.3421, debug_std_frame_1: 0.3722, debug_std_frame_2: 0.4206, debug_std_frame_3: 0.4741, debug_std_frame_4: 0.5327, debug_std_frame_5: 0.5949, loss_rl: -0.1762, loss_critic: 1.1706, loss_rl_bc: 0.0257, il_score: 0.5055, rl_score: 0.5787, prev_frame_loss_waypoint_0: 0.3193, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.6765, grad_norm: 91.5614, il_score_sum: 58.8558, rl_score_sum: 59.5206, score_diff: -0.6648, il_win: 51.6875, rl_win: 42.3125
2025-09-24 04:05:22,358 - mmdet - INFO - Epoch [5][1640/3517]	lr: 4.665e-05, eta: 15:20:57, time: 0.841, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2241, debug_std_frame_0: 0.3110, debug_std_frame_1: 0.3371, debug_std_frame_2: 0.3859, debug_std_frame_3: 0.4416, debug_std_frame_4: 0.4980, debug_std_frame_5: 0.5617, loss_rl: -0.1492, loss_critic: 1.3291, loss_rl_bc: 0.0337, il_score: 0.5779, rl_score: 0.5593, prev_frame_loss_waypoint_0: 0.2216, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.7021, grad_norm: 58.5262, il_score_sum: 58.7961, rl_score_sum: 59.4538, score_diff: -0.6577, il_win: 51.7647, rl_win: 42.5294
2025-09-24 04:05:38,566 - mmdet - INFO - Epoch [5][1660/3517]	lr: 4.665e-05, eta: 15:20:41, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2324, debug_std_frame_0: 0.3648, debug_std_frame_1: 0.3888, debug_std_frame_2: 0.4303, debug_std_frame_3: 0.4837, debug_std_frame_4: 0.5457, debug_std_frame_5: 0.6116, loss_rl: -0.1639, loss_critic: 1.2754, loss_rl_bc: 0.0337, il_score: 0.5818, rl_score: 0.5516, prev_frame_loss_waypoint_0: 0.2462, prev_frame_loss_rl_bc_0: 0.0307, loss: 1.6643, grad_norm: 55.6606, il_score_sum: 58.7961, rl_score_sum: 59.4538, score_diff: -0.6577, il_win: 51.7647, rl_win: 42.5294
2025-09-24 04:05:54,918 - mmdet - INFO - Epoch [5][1680/3517]	lr: 4.665e-05, eta: 15:20:26, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2057, debug_std_frame_0: 0.3502, debug_std_frame_1: 0.3747, debug_std_frame_2: 0.4171, debug_std_frame_3: 0.4696, debug_std_frame_4: 0.5316, debug_std_frame_5: 0.5931, loss_rl: -0.2234, loss_critic: 1.4049, loss_rl_bc: 0.0239, il_score: 0.6169, rl_score: 0.6263, prev_frame_loss_waypoint_0: 0.2388, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.6848, grad_norm: 58.3399, il_score_sum: 58.7961, rl_score_sum: 59.4538, score_diff: -0.6577, il_win: 51.7647, rl_win: 42.5294
2025-09-24 04:06:11,142 - mmdet - INFO - Epoch [5][1700/3517]	lr: 4.665e-05, eta: 15:20:11, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0093, loss_waypoint: 0.1940, debug_std_frame_0: 0.3169, debug_std_frame_1: 0.3393, debug_std_frame_2: 0.3827, debug_std_frame_3: 0.4386, debug_std_frame_4: 0.4963, debug_std_frame_5: 0.5597, loss_rl: -0.1770, loss_critic: 1.3730, loss_rl_bc: 0.0230, il_score: 0.6234, rl_score: 0.5989, prev_frame_loss_waypoint_0: 0.2213, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.6727, grad_norm: 60.2519, il_score_sum: 58.7961, rl_score_sum: 59.4538, score_diff: -0.6577, il_win: 51.7647, rl_win: 42.5294
2025-09-24 04:06:27,348 - mmdet - INFO - Epoch [5][1720/3517]	lr: 4.665e-05, eta: 15:19:55, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.1968, debug_std_frame_0: 0.2620, debug_std_frame_1: 0.2872, debug_std_frame_2: 0.3308, debug_std_frame_3: 0.3833, debug_std_frame_4: 0.4370, debug_std_frame_5: 0.4999, loss_rl: -0.2161, loss_critic: 1.2916, loss_rl_bc: 0.0132, il_score: 0.6438, rl_score: 0.6617, prev_frame_loss_waypoint_0: 0.2059, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.5163, grad_norm: 59.5929, il_score_sum: 58.7961, rl_score_sum: 59.4538, score_diff: -0.6577, il_win: 51.7647, rl_win: 42.5294
2025-09-24 04:06:43,643 - mmdet - INFO - Epoch [5][1740/3517]	lr: 4.665e-05, eta: 15:19:40, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2124, debug_std_frame_0: 0.2830, debug_std_frame_1: 0.3144, debug_std_frame_2: 0.3662, debug_std_frame_3: 0.4193, debug_std_frame_4: 0.4758, debug_std_frame_5: 0.5343, loss_rl: -0.1602, loss_critic: 1.5712, loss_rl_bc: 0.0223, il_score: 0.6234, rl_score: 0.6075, prev_frame_loss_waypoint_0: 0.2372, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.9226, grad_norm: 72.9384, il_score_sum: 58.9490, rl_score_sum: 59.5061, score_diff: -0.5571, il_win: 51.8889, rl_win: 42.7222
2025-09-24 04:06:59,702 - mmdet - INFO - Epoch [5][1760/3517]	lr: 4.665e-05, eta: 15:19:24, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2308, debug_std_frame_0: 0.2968, debug_std_frame_1: 0.3381, debug_std_frame_2: 0.3909, debug_std_frame_3: 0.4449, debug_std_frame_4: 0.5047, debug_std_frame_5: 0.5582, loss_rl: -0.1571, loss_critic: 1.2016, loss_rl_bc: 0.0289, il_score: 0.6022, rl_score: 0.5741, prev_frame_loss_waypoint_0: 0.2387, prev_frame_loss_rl_bc_0: 0.0317, loss: 1.5842, grad_norm: 76.7144, il_score_sum: 58.9490, rl_score_sum: 59.5061, score_diff: -0.5571, il_win: 51.8889, rl_win: 42.7222
2025-09-24 04:07:16,079 - mmdet - INFO - Epoch [5][1780/3517]	lr: 4.665e-05, eta: 15:19:09, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2244, debug_std_frame_0: 0.3186, debug_std_frame_1: 0.3595, debug_std_frame_2: 0.4102, debug_std_frame_3: 0.4637, debug_std_frame_4: 0.5235, debug_std_frame_5: 0.5746, loss_rl: -0.1907, loss_critic: 1.5120, loss_rl_bc: 0.0239, il_score: 0.5847, rl_score: 0.6077, prev_frame_loss_waypoint_0: 0.2304, prev_frame_loss_rl_bc_0: 0.0245, loss: 1.8346, grad_norm: 69.3537, il_score_sum: 58.9490, rl_score_sum: 59.5061, score_diff: -0.5571, il_win: 51.8889, rl_win: 42.7222
2025-09-24 04:07:32,347 - mmdet - INFO - Epoch [5][1800/3517]	lr: 4.665e-05, eta: 15:18:54, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2259, debug_std_frame_0: 0.3206, debug_std_frame_1: 0.3611, debug_std_frame_2: 0.4143, debug_std_frame_3: 0.4713, debug_std_frame_4: 0.5276, debug_std_frame_5: 0.5823, loss_rl: -0.2171, loss_critic: 1.2383, loss_rl_bc: 0.0248, il_score: 0.5994, rl_score: 0.6240, prev_frame_loss_waypoint_0: 0.2471, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.5523, grad_norm: 84.3810, il_score_sum: 58.9490, rl_score_sum: 59.5061, score_diff: -0.5571, il_win: 51.8889, rl_win: 42.7222
2025-09-24 04:07:48,561 - mmdet - INFO - Epoch [5][1820/3517]	lr: 4.665e-05, eta: 15:18:38, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2428, debug_std_frame_0: 0.3089, debug_std_frame_1: 0.3504, debug_std_frame_2: 0.4095, debug_std_frame_3: 0.4738, debug_std_frame_4: 0.5303, debug_std_frame_5: 0.5899, loss_rl: -0.0985, loss_critic: 1.3104, loss_rl_bc: 0.0374, il_score: 0.5986, rl_score: 0.5466, prev_frame_loss_waypoint_0: 0.2504, prev_frame_loss_rl_bc_0: 0.0398, loss: 1.7922, grad_norm: 73.1359, il_score_sum: 58.9490, rl_score_sum: 59.5061, score_diff: -0.5571, il_win: 51.8889, rl_win: 42.7222
2025-09-24 04:08:04,743 - mmdet - INFO - Epoch [5][1840/3517]	lr: 4.665e-05, eta: 15:18:22, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.1975, debug_std_frame_0: 0.3346, debug_std_frame_1: 0.3721, debug_std_frame_2: 0.4224, debug_std_frame_3: 0.4772, debug_std_frame_4: 0.5277, debug_std_frame_5: 0.5852, loss_rl: -0.2012, loss_critic: 1.4283, loss_rl_bc: 0.0222, il_score: 0.6321, rl_score: 0.6010, prev_frame_loss_waypoint_0: 0.2149, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.6957, grad_norm: 60.8254, il_score_sum: 59.0178, rl_score_sum: 59.4706, score_diff: -0.4528, il_win: 52.0526, rl_win: 42.8947
2025-09-24 04:08:20,900 - mmdet - INFO - Epoch [5][1860/3517]	lr: 4.665e-05, eta: 15:18:07, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2765, debug_std_frame_0: 0.3448, debug_std_frame_1: 0.3745, debug_std_frame_2: 0.4165, debug_std_frame_3: 0.4675, debug_std_frame_4: 0.5151, debug_std_frame_5: 0.5608, loss_rl: -0.2406, loss_critic: 1.1866, loss_rl_bc: 0.0255, il_score: 0.5533, rl_score: 0.5973, prev_frame_loss_waypoint_0: 0.3009, prev_frame_loss_rl_bc_0: 0.0314, loss: 1.5901, grad_norm: 81.8871, il_score_sum: 59.0178, rl_score_sum: 59.4706, score_diff: -0.4528, il_win: 52.0526, rl_win: 42.8947
2025-09-24 04:08:37,222 - mmdet - INFO - Epoch [5][1880/3517]	lr: 4.665e-05, eta: 15:17:52, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2993, debug_std_frame_0: 0.3470, debug_std_frame_1: 0.3792, debug_std_frame_2: 0.4261, debug_std_frame_3: 0.4819, debug_std_frame_4: 0.5337, debug_std_frame_5: 0.5837, loss_rl: -0.1631, loss_critic: 1.1662, loss_rl_bc: 0.0356, il_score: 0.5449, rl_score: 0.5592, prev_frame_loss_waypoint_0: 0.3116, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.6983, grad_norm: 86.5303, il_score_sum: 59.0178, rl_score_sum: 59.4706, score_diff: -0.4528, il_win: 52.0526, rl_win: 42.8947
2025-09-24 04:08:53,426 - mmdet - INFO - Epoch [5][1900/3517]	lr: 4.665e-05, eta: 15:17:36, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.2246, debug_std_frame_0: 0.3520, debug_std_frame_1: 0.3779, debug_std_frame_2: 0.4171, debug_std_frame_3: 0.4708, debug_std_frame_4: 0.5237, debug_std_frame_5: 0.5725, loss_rl: -0.1840, loss_critic: 1.3119, loss_rl_bc: 0.0286, il_score: 0.5818, rl_score: 0.5917, prev_frame_loss_waypoint_0: 0.2505, prev_frame_loss_rl_bc_0: 0.0246, loss: 1.6668, grad_norm: 76.6147, il_score_sum: 59.0178, rl_score_sum: 59.4706, score_diff: -0.4528, il_win: 52.0526, rl_win: 42.8947
2025-09-24 04:09:09,330 - mmdet - INFO - Epoch [5][1920/3517]	lr: 4.665e-05, eta: 15:17:19, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2355, debug_std_frame_0: 0.3522, debug_std_frame_1: 0.3787, debug_std_frame_2: 0.4222, debug_std_frame_3: 0.4840, debug_std_frame_4: 0.5458, debug_std_frame_5: 0.5976, loss_rl: -0.1537, loss_critic: 1.1501, loss_rl_bc: 0.0254, il_score: 0.5985, rl_score: 0.5876, prev_frame_loss_waypoint_0: 0.2341, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.5277, grad_norm: 50.3244, il_score_sum: 59.0178, rl_score_sum: 59.4706, score_diff: -0.4528, il_win: 52.0526, rl_win: 42.8947
2025-09-24 04:09:25,638 - mmdet - INFO - Epoch [5][1940/3517]	lr: 4.665e-05, eta: 15:17:04, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.2353, debug_std_frame_0: 0.3089, debug_std_frame_1: 0.3400, debug_std_frame_2: 0.3870, debug_std_frame_3: 0.4524, debug_std_frame_4: 0.5206, debug_std_frame_5: 0.5774, loss_rl: -0.2026, loss_critic: 1.1781, loss_rl_bc: 0.0249, il_score: 0.6073, rl_score: 0.6221, prev_frame_loss_waypoint_0: 0.2488, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.5195, grad_norm: 52.1440, il_score_sum: 58.9535, rl_score_sum: 59.4463, score_diff: -0.4928, il_win: 52.2000, rl_win: 43.1000
2025-09-24 04:09:41,799 - mmdet - INFO - Epoch [5][1960/3517]	lr: 4.665e-05, eta: 15:16:48, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2890, debug_std_frame_0: 0.3166, debug_std_frame_1: 0.3513, debug_std_frame_2: 0.4082, debug_std_frame_3: 0.4704, debug_std_frame_4: 0.5382, debug_std_frame_5: 0.5975, loss_rl: -0.1044, loss_critic: 1.2124, loss_rl_bc: 0.0470, il_score: 0.5513, rl_score: 0.5431, prev_frame_loss_waypoint_0: 0.3065, prev_frame_loss_rl_bc_0: 0.0462, loss: 1.8069, grad_norm: 97.5349, il_score_sum: 58.9535, rl_score_sum: 59.4463, score_diff: -0.4928, il_win: 52.2000, rl_win: 43.1000
2025-09-24 04:09:57,927 - mmdet - INFO - Epoch [5][1980/3517]	lr: 4.665e-05, eta: 15:16:32, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2525, debug_std_frame_0: 0.3350, debug_std_frame_1: 0.3689, debug_std_frame_2: 0.4208, debug_std_frame_3: 0.4816, debug_std_frame_4: 0.5563, debug_std_frame_5: 0.6083, loss_rl: -0.1091, loss_critic: 1.2844, loss_rl_bc: 0.0488, il_score: 0.6016, rl_score: 0.4991, prev_frame_loss_waypoint_0: 0.2778, prev_frame_loss_rl_bc_0: 0.0517, loss: 1.8166, grad_norm: 77.3886, il_score_sum: 58.9535, rl_score_sum: 59.4463, score_diff: -0.4928, il_win: 52.2000, rl_win: 43.1000
2025-09-24 04:10:13,919 - mmdet - INFO - Epoch [5][2000/3517]	lr: 4.665e-05, eta: 15:16:16, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2384, debug_std_frame_0: 0.4599, debug_std_frame_1: 0.4832, debug_std_frame_2: 0.5163, debug_std_frame_3: 0.5651, debug_std_frame_4: 0.6305, debug_std_frame_5: 0.6754, loss_rl: -0.1739, loss_critic: 1.4711, loss_rl_bc: 0.0408, il_score: 0.6074, rl_score: 0.5445, prev_frame_loss_waypoint_0: 0.2572, prev_frame_loss_rl_bc_0: 0.0380, loss: 1.8826, grad_norm: 65.2853, il_score_sum: 58.9535, rl_score_sum: 59.4463, score_diff: -0.4928, il_win: 52.2000, rl_win: 43.1000
2025-09-24 04:10:30,128 - mmdet - INFO - Epoch [5][2020/3517]	lr: 4.665e-05, eta: 15:16:00, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2177, debug_std_frame_0: 0.4553, debug_std_frame_1: 0.4734, debug_std_frame_2: 0.4999, debug_std_frame_3: 0.5388, debug_std_frame_4: 0.5951, debug_std_frame_5: 0.6417, loss_rl: -0.2267, loss_critic: 1.3834, loss_rl_bc: 0.0244, il_score: 0.6012, rl_score: 0.6122, prev_frame_loss_waypoint_0: 0.2479, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.6851, grad_norm: 64.6586, il_score_sum: 58.9535, rl_score_sum: 59.4463, score_diff: -0.4928, il_win: 52.2000, rl_win: 43.1000
2025-09-24 04:10:46,351 - mmdet - INFO - Epoch [5][2040/3517]	lr: 4.665e-05, eta: 15:15:45, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2560, debug_std_frame_0: 0.3800, debug_std_frame_1: 0.4031, debug_std_frame_2: 0.4358, debug_std_frame_3: 0.4808, debug_std_frame_4: 0.5368, debug_std_frame_5: 0.5885, loss_rl: -0.2096, loss_critic: 1.4619, loss_rl_bc: 0.0274, il_score: 0.5756, rl_score: 0.6029, prev_frame_loss_waypoint_0: 0.2867, prev_frame_loss_rl_bc_0: 0.0394, loss: 1.8724, grad_norm: 77.5323, il_score_sum: 58.9345, rl_score_sum: 59.3579, score_diff: -0.4234, il_win: 52.4500, rl_win: 43.4500
2025-09-24 04:11:02,355 - mmdet - INFO - Epoch [5][2060/3517]	lr: 4.665e-05, eta: 15:15:28, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2147, debug_std_frame_0: 0.3671, debug_std_frame_1: 0.3951, debug_std_frame_2: 0.4400, debug_std_frame_3: 0.4984, debug_std_frame_4: 0.5604, debug_std_frame_5: 0.6138, loss_rl: -0.1477, loss_critic: 1.1636, loss_rl_bc: 0.0267, il_score: 0.5953, rl_score: 0.5681, prev_frame_loss_waypoint_0: 0.2272, prev_frame_loss_rl_bc_0: 0.0299, loss: 1.5244, grad_norm: 48.0276, il_score_sum: 58.9345, rl_score_sum: 59.3579, score_diff: -0.4234, il_win: 52.4500, rl_win: 43.4500
2025-09-24 04:11:18,386 - mmdet - INFO - Epoch [5][2080/3517]	lr: 4.665e-05, eta: 15:15:12, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2055, debug_std_frame_0: 0.3216, debug_std_frame_1: 0.3467, debug_std_frame_2: 0.3856, debug_std_frame_3: 0.4399, debug_std_frame_4: 0.5042, debug_std_frame_5: 0.5622, loss_rl: -0.1548, loss_critic: 1.4436, loss_rl_bc: 0.0323, il_score: 0.6210, rl_score: 0.5610, prev_frame_loss_waypoint_0: 0.2232, prev_frame_loss_rl_bc_0: 0.0356, loss: 1.7952, grad_norm: 65.7683, il_score_sum: 58.9345, rl_score_sum: 59.3579, score_diff: -0.4234, il_win: 52.4500, rl_win: 43.4500
2025-09-24 04:11:34,599 - mmdet - INFO - Epoch [5][2100/3517]	lr: 4.665e-05, eta: 15:14:56, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2185, debug_std_frame_0: 0.3472, debug_std_frame_1: 0.3719, debug_std_frame_2: 0.4117, debug_std_frame_3: 0.4599, debug_std_frame_4: 0.5226, debug_std_frame_5: 0.5802, loss_rl: -0.1744, loss_critic: 1.5238, loss_rl_bc: 0.0277, il_score: 0.6077, rl_score: 0.5714, prev_frame_loss_waypoint_0: 0.2505, prev_frame_loss_rl_bc_0: 0.0321, loss: 1.8879, grad_norm: 78.2113, il_score_sum: 58.9345, rl_score_sum: 59.3579, score_diff: -0.4234, il_win: 52.4500, rl_win: 43.4500
2025-09-24 04:11:50,678 - mmdet - INFO - Epoch [5][2120/3517]	lr: 4.665e-05, eta: 15:14:40, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.2529, debug_std_frame_0: 0.3528, debug_std_frame_1: 0.3849, debug_std_frame_2: 0.4372, debug_std_frame_3: 0.4945, debug_std_frame_4: 0.5565, debug_std_frame_5: 0.6170, loss_rl: -0.2019, loss_critic: 1.2732, loss_rl_bc: 0.0233, il_score: 0.5532, rl_score: 0.6001, prev_frame_loss_waypoint_0: 0.2668, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.6492, grad_norm: 63.8431, il_score_sum: 58.9345, rl_score_sum: 59.3579, score_diff: -0.4234, il_win: 52.4500, rl_win: 43.4500
2025-09-24 04:12:06,659 - mmdet - INFO - Epoch [5][2140/3517]	lr: 4.665e-05, eta: 15:14:24, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.1897, debug_std_frame_0: 0.3012, debug_std_frame_1: 0.3303, debug_std_frame_2: 0.3755, debug_std_frame_3: 0.4283, debug_std_frame_4: 0.4835, debug_std_frame_5: 0.5426, loss_rl: -0.2264, loss_critic: 1.3276, loss_rl_bc: 0.0181, il_score: 0.5990, rl_score: 0.6038, prev_frame_loss_waypoint_0: 0.2194, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.5574, grad_norm: 48.8387, il_score_sum: 59.0416, rl_score_sum: 59.3891, score_diff: -0.3475, il_win: 52.7000, rl_win: 43.8000
2025-09-24 04:12:22,457 - mmdet - INFO - Epoch [5][2160/3517]	lr: 4.665e-05, eta: 15:14:06, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2078, debug_std_frame_0: 0.2754, debug_std_frame_1: 0.3013, debug_std_frame_2: 0.3469, debug_std_frame_3: 0.4017, debug_std_frame_4: 0.4552, debug_std_frame_5: 0.5167, loss_rl: -0.2020, loss_critic: 1.4293, loss_rl_bc: 0.0237, il_score: 0.6083, rl_score: 0.5930, prev_frame_loss_waypoint_0: 0.2436, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.7418, grad_norm: 67.3684, il_score_sum: 59.0416, rl_score_sum: 59.3891, score_diff: -0.3475, il_win: 52.7000, rl_win: 43.8000
2025-09-24 04:12:38,468 - mmdet - INFO - Epoch [5][2180/3517]	lr: 4.665e-05, eta: 15:13:50, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.1871, debug_std_frame_0: 0.2951, debug_std_frame_1: 0.3220, debug_std_frame_2: 0.3661, debug_std_frame_3: 0.4165, debug_std_frame_4: 0.4788, debug_std_frame_5: 0.5353, loss_rl: -0.1657, loss_critic: 1.4268, loss_rl_bc: 0.0230, il_score: 0.6200, rl_score: 0.5848, prev_frame_loss_waypoint_0: 0.2110, prev_frame_loss_rl_bc_0: 0.0264, loss: 1.7192, grad_norm: 68.3552, il_score_sum: 59.0416, rl_score_sum: 59.3891, score_diff: -0.3475, il_win: 52.7000, rl_win: 43.8000
2025-09-24 04:12:54,450 - mmdet - INFO - Epoch [5][2200/3517]	lr: 4.665e-05, eta: 15:13:33, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2802, debug_std_frame_0: 0.3321, debug_std_frame_1: 0.3615, debug_std_frame_2: 0.4053, debug_std_frame_3: 0.4555, debug_std_frame_4: 0.5151, debug_std_frame_5: 0.5678, loss_rl: -0.1516, loss_critic: 1.1633, loss_rl_bc: 0.0294, il_score: 0.5835, rl_score: 0.6066, prev_frame_loss_waypoint_0: 0.2849, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.6442, grad_norm: 87.2051, il_score_sum: 59.0416, rl_score_sum: 59.3891, score_diff: -0.3475, il_win: 52.7000, rl_win: 43.8000
2025-09-24 04:13:10,292 - mmdet - INFO - Epoch [5][2220/3517]	lr: 4.665e-05, eta: 15:13:16, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2067, debug_std_frame_0: 0.3106, debug_std_frame_1: 0.3400, debug_std_frame_2: 0.3849, debug_std_frame_3: 0.4381, debug_std_frame_4: 0.4958, debug_std_frame_5: 0.5540, loss_rl: -0.2130, loss_critic: 1.2247, loss_rl_bc: 0.0178, il_score: 0.5986, rl_score: 0.6239, prev_frame_loss_waypoint_0: 0.2273, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.4941, grad_norm: 70.8773, il_score_sum: 59.0416, rl_score_sum: 59.3891, score_diff: -0.3475, il_win: 52.7000, rl_win: 43.8000
2025-09-24 04:13:26,451 - mmdet - INFO - Epoch [5][2240/3517]	lr: 4.665e-05, eta: 15:13:00, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2374, debug_std_frame_0: 0.2900, debug_std_frame_1: 0.3215, debug_std_frame_2: 0.3684, debug_std_frame_3: 0.4239, debug_std_frame_4: 0.4767, debug_std_frame_5: 0.5335, loss_rl: -0.1630, loss_critic: 1.3047, loss_rl_bc: 0.0222, il_score: 0.5708, rl_score: 0.5780, prev_frame_loss_waypoint_0: 0.2589, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.6998, grad_norm: 67.7232, il_score_sum: 59.0968, rl_score_sum: 59.4539, score_diff: -0.3571, il_win: 52.9500, rl_win: 44.1500
2025-09-24 04:13:42,564 - mmdet - INFO - Epoch [5][2260/3517]	lr: 4.665e-05, eta: 15:12:44, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0092, loss_waypoint: 0.2073, debug_std_frame_0: 0.2839, debug_std_frame_1: 0.3154, debug_std_frame_2: 0.3631, debug_std_frame_3: 0.4177, debug_std_frame_4: 0.4759, debug_std_frame_5: 0.5360, loss_rl: -0.1919, loss_critic: 1.3660, loss_rl_bc: 0.0266, il_score: 0.6120, rl_score: 0.6071, prev_frame_loss_waypoint_0: 0.2370, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.6866, grad_norm: 53.1026, il_score_sum: 59.0968, rl_score_sum: 59.4539, score_diff: -0.3571, il_win: 52.9500, rl_win: 44.1500
2025-09-24 04:13:58,510 - mmdet - INFO - Epoch [5][2280/3517]	lr: 4.665e-05, eta: 15:12:28, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0090, loss_waypoint: 0.2450, debug_std_frame_0: 0.3616, debug_std_frame_1: 0.3866, debug_std_frame_2: 0.4249, debug_std_frame_3: 0.4684, debug_std_frame_4: 0.5198, debug_std_frame_5: 0.5731, loss_rl: -0.2177, loss_critic: 1.5519, loss_rl_bc: 0.0335, il_score: 0.5801, rl_score: 0.5948, prev_frame_loss_waypoint_0: 0.2711, prev_frame_loss_rl_bc_0: 0.0400, loss: 1.9329, grad_norm: 84.1659, il_score_sum: 59.0968, rl_score_sum: 59.4539, score_diff: -0.3571, il_win: 52.9500, rl_win: 44.1500
2025-09-24 04:14:14,494 - mmdet - INFO - Epoch [5][2300/3517]	lr: 4.665e-05, eta: 15:12:11, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0093, loss_waypoint: 0.2523, debug_std_frame_0: 0.3643, debug_std_frame_1: 0.3922, debug_std_frame_2: 0.4327, debug_std_frame_3: 0.4802, debug_std_frame_4: 0.5391, debug_std_frame_5: 0.5941, loss_rl: -0.2330, loss_critic: 1.2815, loss_rl_bc: 0.0251, il_score: 0.5709, rl_score: 0.5950, prev_frame_loss_waypoint_0: 0.2888, prev_frame_loss_rl_bc_0: 0.0278, loss: 1.6518, grad_norm: 89.6326, il_score_sum: 59.0968, rl_score_sum: 59.4539, score_diff: -0.3571, il_win: 52.9500, rl_win: 44.1500
2025-09-24 04:14:30,400 - mmdet - INFO - Epoch [5][2320/3517]	lr: 4.665e-05, eta: 15:11:54, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2229, debug_std_frame_0: 0.3162, debug_std_frame_1: 0.3444, debug_std_frame_2: 0.3883, debug_std_frame_3: 0.4370, debug_std_frame_4: 0.4945, debug_std_frame_5: 0.5481, loss_rl: -0.1948, loss_critic: 1.0983, loss_rl_bc: 0.0203, il_score: 0.6079, rl_score: 0.6211, prev_frame_loss_waypoint_0: 0.2490, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.4343, grad_norm: 72.3663, il_score_sum: 59.0968, rl_score_sum: 59.4539, score_diff: -0.3571, il_win: 52.9500, rl_win: 44.1500
2025-09-24 04:14:46,885 - mmdet - INFO - Epoch [5][2340/3517]	lr: 4.665e-05, eta: 15:11:40, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2413, debug_std_frame_0: 0.3040, debug_std_frame_1: 0.3304, debug_std_frame_2: 0.3770, debug_std_frame_3: 0.4260, debug_std_frame_4: 0.4805, debug_std_frame_5: 0.5368, loss_rl: -0.2340, loss_critic: 1.3385, loss_rl_bc: 0.0225, il_score: 0.5580, rl_score: 0.5951, prev_frame_loss_waypoint_0: 0.2536, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.6526, grad_norm: 78.2697, il_score_sum: 59.0583, rl_score_sum: 59.5192, score_diff: -0.4610, il_win: 53.2000, rl_win: 44.5500
2025-09-24 04:15:02,959 - mmdet - INFO - Epoch [5][2360/3517]	lr: 4.665e-05, eta: 15:11:24, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.2480, debug_std_frame_0: 0.2726, debug_std_frame_1: 0.2995, debug_std_frame_2: 0.3482, debug_std_frame_3: 0.3971, debug_std_frame_4: 0.4519, debug_std_frame_5: 0.5114, loss_rl: -0.1902, loss_critic: 1.3828, loss_rl_bc: 0.0262, il_score: 0.5712, rl_score: 0.5855, prev_frame_loss_waypoint_0: 0.2658, prev_frame_loss_rl_bc_0: 0.0256, loss: 1.7695, grad_norm: 82.2173, il_score_sum: 59.0583, rl_score_sum: 59.5192, score_diff: -0.4610, il_win: 53.2000, rl_win: 44.5500
2025-09-24 04:15:18,924 - mmdet - INFO - Epoch [5][2380/3517]	lr: 4.665e-05, eta: 15:11:07, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2287, debug_std_frame_0: 0.3088, debug_std_frame_1: 0.3407, debug_std_frame_2: 0.3966, debug_std_frame_3: 0.4557, debug_std_frame_4: 0.5143, debug_std_frame_5: 0.5728, loss_rl: -0.1250, loss_critic: 1.4002, loss_rl_bc: 0.0316, il_score: 0.5872, rl_score: 0.5554, prev_frame_loss_waypoint_0: 0.2720, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.8572, grad_norm: 83.2694, il_score_sum: 59.0583, rl_score_sum: 59.5192, score_diff: -0.4610, il_win: 53.2000, rl_win: 44.5500
2025-09-24 04:15:34,983 - mmdet - INFO - Epoch [5][2400/3517]	lr: 4.665e-05, eta: 15:10:51, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.2596, debug_std_frame_0: 0.3431, debug_std_frame_1: 0.3764, debug_std_frame_2: 0.4333, debug_std_frame_3: 0.4931, debug_std_frame_4: 0.5522, debug_std_frame_5: 0.6104, loss_rl: -0.1507, loss_critic: 1.4378, loss_rl_bc: 0.0457, il_score: 0.5651, rl_score: 0.5181, prev_frame_loss_waypoint_0: 0.3065, prev_frame_loss_rl_bc_0: 0.0522, loss: 1.9619, grad_norm: 80.3768, il_score_sum: 59.0583, rl_score_sum: 59.5192, score_diff: -0.4610, il_win: 53.2000, rl_win: 44.5500
2025-09-24 04:15:50,987 - mmdet - INFO - Epoch [5][2420/3517]	lr: 4.665e-05, eta: 15:10:35, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.2273, debug_std_frame_0: 0.4007, debug_std_frame_1: 0.4349, debug_std_frame_2: 0.4952, debug_std_frame_3: 0.5513, debug_std_frame_4: 0.6060, debug_std_frame_5: 0.6554, loss_rl: -0.2051, loss_critic: 1.5655, loss_rl_bc: 0.0346, il_score: 0.5467, rl_score: 0.5311, prev_frame_loss_waypoint_0: 0.2678, prev_frame_loss_rl_bc_0: 0.0429, loss: 1.9442, grad_norm: 65.9341, il_score_sum: 59.0583, rl_score_sum: 59.5192, score_diff: -0.4610, il_win: 53.2000, rl_win: 44.5500
2025-09-24 04:16:07,386 - mmdet - INFO - Epoch [5][2440/3517]	lr: 4.665e-05, eta: 15:10:20, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2021, debug_std_frame_0: 0.3899, debug_std_frame_1: 0.4178, debug_std_frame_2: 0.4693, debug_std_frame_3: 0.5241, debug_std_frame_4: 0.5785, debug_std_frame_5: 0.6273, loss_rl: -0.3040, loss_critic: 1.6066, loss_rl_bc: 0.0196, il_score: 0.6534, rl_score: 0.6627, prev_frame_loss_waypoint_0: 0.2058, prev_frame_loss_rl_bc_0: 0.0204, loss: 1.7609, grad_norm: 47.4755, il_score_sum: 58.9373, rl_score_sum: 59.2927, score_diff: -0.3555, il_win: 53.5000, rl_win: 44.9500
2025-09-24 04:16:23,319 - mmdet - INFO - Epoch [5][2460/3517]	lr: 4.665e-05, eta: 15:10:03, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2098, debug_std_frame_0: 0.3187, debug_std_frame_1: 0.3470, debug_std_frame_2: 0.3996, debug_std_frame_3: 0.4507, debug_std_frame_4: 0.5001, debug_std_frame_5: 0.5547, loss_rl: -0.2164, loss_critic: 1.5360, loss_rl_bc: 0.0236, il_score: 0.6379, rl_score: 0.6165, prev_frame_loss_waypoint_0: 0.2129, prev_frame_loss_rl_bc_0: 0.0575, loss: 1.8342, grad_norm: 66.0477, il_score_sum: 58.9373, rl_score_sum: 59.2927, score_diff: -0.3555, il_win: 53.5000, rl_win: 44.9500
2025-09-24 04:16:39,417 - mmdet - INFO - Epoch [5][2480/3517]	lr: 4.665e-05, eta: 15:09:47, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2410, debug_std_frame_0: 0.3165, debug_std_frame_1: 0.3482, debug_std_frame_2: 0.4090, debug_std_frame_3: 0.4750, debug_std_frame_4: 0.5270, debug_std_frame_5: 0.5865, loss_rl: -0.1730, loss_critic: 1.1618, loss_rl_bc: 0.0303, il_score: 0.6086, rl_score: 0.6171, prev_frame_loss_waypoint_0: 0.2396, prev_frame_loss_rl_bc_0: 0.0329, loss: 1.5432, grad_norm: 56.5136, il_score_sum: 58.9373, rl_score_sum: 59.2927, score_diff: -0.3555, il_win: 53.5000, rl_win: 44.9500
2025-09-24 04:16:55,637 - mmdet - INFO - Epoch [5][2500/3517]	lr: 4.665e-05, eta: 15:09:31, time: 0.812, data_time: 0.014, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2348, debug_std_frame_0: 0.3370, debug_std_frame_1: 0.3657, debug_std_frame_2: 0.4169, debug_std_frame_3: 0.4761, debug_std_frame_4: 0.5261, debug_std_frame_5: 0.5791, loss_rl: -0.1590, loss_critic: 1.5594, loss_rl_bc: 0.0384, il_score: 0.5928, rl_score: 0.5540, prev_frame_loss_waypoint_0: 0.2339, prev_frame_loss_rl_bc_0: 0.0400, loss: 1.9578, grad_norm: 65.3950, il_score_sum: 58.9373, rl_score_sum: 59.2927, score_diff: -0.3555, il_win: 53.5000, rl_win: 44.9500
2025-09-24 04:17:11,808 - mmdet - INFO - Epoch [5][2520/3517]	lr: 4.665e-05, eta: 15:09:16, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2255, debug_std_frame_0: 0.3443, debug_std_frame_1: 0.3771, debug_std_frame_2: 0.4297, debug_std_frame_3: 0.4921, debug_std_frame_4: 0.5410, debug_std_frame_5: 0.5942, loss_rl: -0.2302, loss_critic: 1.2305, loss_rl_bc: 0.0243, il_score: 0.6055, rl_score: 0.6286, prev_frame_loss_waypoint_0: 0.2454, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.5327, grad_norm: 74.8342, il_score_sum: 58.9373, rl_score_sum: 59.2927, score_diff: -0.3555, il_win: 53.5000, rl_win: 44.9500
2025-09-24 04:17:28,112 - mmdet - INFO - Epoch [5][2540/3517]	lr: 4.665e-05, eta: 15:09:00, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2175, debug_std_frame_0: 0.3283, debug_std_frame_1: 0.3545, debug_std_frame_2: 0.4054, debug_std_frame_3: 0.4607, debug_std_frame_4: 0.5084, debug_std_frame_5: 0.5637, loss_rl: -0.2037, loss_critic: 1.4508, loss_rl_bc: 0.0228, il_score: 0.5762, rl_score: 0.5901, prev_frame_loss_waypoint_0: 0.2358, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.7612, grad_norm: 71.9888, il_score_sum: 58.9790, rl_score_sum: 59.2566, score_diff: -0.2776, il_win: 53.8000, rl_win: 45.3000
2025-09-24 04:17:44,084 - mmdet - INFO - Epoch [5][2560/3517]	lr: 4.665e-05, eta: 15:08:44, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0091, loss_waypoint: 0.2031, debug_std_frame_0: 0.3264, debug_std_frame_1: 0.3506, debug_std_frame_2: 0.3967, debug_std_frame_3: 0.4550, debug_std_frame_4: 0.5047, debug_std_frame_5: 0.5644, loss_rl: -0.1564, loss_critic: 1.2913, loss_rl_bc: 0.0243, il_score: 0.6267, rl_score: 0.5874, prev_frame_loss_waypoint_0: 0.2280, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.6270, grad_norm: 56.9421, il_score_sum: 58.9790, rl_score_sum: 59.2566, score_diff: -0.2776, il_win: 53.8000, rl_win: 45.3000
2025-09-24 04:18:00,191 - mmdet - INFO - Epoch [5][2580/3517]	lr: 4.665e-05, eta: 15:08:28, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.2288, debug_std_frame_0: 0.3179, debug_std_frame_1: 0.3409, debug_std_frame_2: 0.3839, debug_std_frame_3: 0.4352, debug_std_frame_4: 0.4816, debug_std_frame_5: 0.5357, loss_rl: -0.2053, loss_critic: 1.1980, loss_rl_bc: 0.0246, il_score: 0.5978, rl_score: 0.5860, prev_frame_loss_waypoint_0: 0.2494, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.5302, grad_norm: 69.2039, il_score_sum: 58.9790, rl_score_sum: 59.2566, score_diff: -0.2776, il_win: 53.8000, rl_win: 45.3000
2025-09-24 04:18:16,226 - mmdet - INFO - Epoch [5][2600/3517]	lr: 4.665e-05, eta: 15:08:12, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0096, loss_waypoint: 0.2460, debug_std_frame_0: 0.2844, debug_std_frame_1: 0.3120, debug_std_frame_2: 0.3606, debug_std_frame_3: 0.4186, debug_std_frame_4: 0.4693, debug_std_frame_5: 0.5263, loss_rl: -0.1977, loss_critic: 1.4355, loss_rl_bc: 0.0237, il_score: 0.5811, rl_score: 0.6185, prev_frame_loss_waypoint_0: 0.2544, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.7974, grad_norm: 91.2058, il_score_sum: 58.9790, rl_score_sum: 59.2566, score_diff: -0.2776, il_win: 53.8000, rl_win: 45.3000
2025-09-24 04:18:32,444 - mmdet - INFO - Epoch [5][2620/3517]	lr: 4.665e-05, eta: 15:07:56, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2425, debug_std_frame_0: 0.3161, debug_std_frame_1: 0.3421, debug_std_frame_2: 0.3869, debug_std_frame_3: 0.4391, debug_std_frame_4: 0.4888, debug_std_frame_5: 0.5400, loss_rl: -0.1126, loss_critic: 1.5629, loss_rl_bc: 0.0382, il_score: 0.5750, rl_score: 0.5453, prev_frame_loss_waypoint_0: 0.2601, prev_frame_loss_rl_bc_0: 0.0430, loss: 2.0441, grad_norm: 110.0397, il_score_sum: 58.9790, rl_score_sum: 59.2566, score_diff: -0.2776, il_win: 53.8000, rl_win: 45.3000
2025-09-24 04:18:48,679 - mmdet - INFO - Epoch [5][2640/3517]	lr: 4.665e-05, eta: 15:07:41, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2293, debug_std_frame_0: 0.3525, debug_std_frame_1: 0.3788, debug_std_frame_2: 0.4249, debug_std_frame_3: 0.4792, debug_std_frame_4: 0.5291, debug_std_frame_5: 0.5846, loss_rl: -0.2420, loss_critic: 1.1231, loss_rl_bc: 0.0214, il_score: 0.6234, rl_score: 0.6365, prev_frame_loss_waypoint_0: 0.2207, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.3823, grad_norm: 58.4237, il_score_sum: 59.1126, rl_score_sum: 59.2999, score_diff: -0.1873, il_win: 54.1000, rl_win: 45.6500
2025-09-24 04:19:04,937 - mmdet - INFO - Epoch [5][2660/3517]	lr: 4.665e-05, eta: 15:07:25, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.2235, debug_std_frame_0: 0.3466, debug_std_frame_1: 0.3700, debug_std_frame_2: 0.4120, debug_std_frame_3: 0.4616, debug_std_frame_4: 0.5139, debug_std_frame_5: 0.5737, loss_rl: -0.1985, loss_critic: 1.5511, loss_rl_bc: 0.0245, il_score: 0.5865, rl_score: 0.5932, prev_frame_loss_waypoint_0: 0.2557, prev_frame_loss_rl_bc_0: 0.0275, loss: 1.8941, grad_norm: 85.1969, il_score_sum: 59.1126, rl_score_sum: 59.2999, score_diff: -0.1873, il_win: 54.1000, rl_win: 45.6500
2025-09-24 04:19:21,123 - mmdet - INFO - Epoch [5][2680/3517]	lr: 4.665e-05, eta: 15:07:09, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2363, debug_std_frame_0: 0.3185, debug_std_frame_1: 0.3464, debug_std_frame_2: 0.3937, debug_std_frame_3: 0.4476, debug_std_frame_4: 0.4971, debug_std_frame_5: 0.5585, loss_rl: -0.2195, loss_critic: 1.4527, loss_rl_bc: 0.0236, il_score: 0.5974, rl_score: 0.6301, prev_frame_loss_waypoint_0: 0.2324, prev_frame_loss_rl_bc_0: 0.0275, loss: 1.7628, grad_norm: 74.1274, il_score_sum: 59.1126, rl_score_sum: 59.2999, score_diff: -0.1873, il_win: 54.1000, rl_win: 45.6500
2025-09-24 04:19:37,202 - mmdet - INFO - Epoch [5][2700/3517]	lr: 4.665e-05, eta: 15:06:53, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.2344, debug_std_frame_0: 0.3212, debug_std_frame_1: 0.3490, debug_std_frame_2: 0.3965, debug_std_frame_3: 0.4512, debug_std_frame_4: 0.5063, debug_std_frame_5: 0.5631, loss_rl: -0.2003, loss_critic: 1.0680, loss_rl_bc: 0.0205, il_score: 0.6384, rl_score: 0.6433, prev_frame_loss_waypoint_0: 0.2409, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.3927, grad_norm: 67.7038, il_score_sum: 59.1126, rl_score_sum: 59.2999, score_diff: -0.1873, il_win: 54.1000, rl_win: 45.6500
2025-09-24 04:19:53,194 - mmdet - INFO - Epoch [5][2720/3517]	lr: 4.665e-05, eta: 15:06:37, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.2241, debug_std_frame_0: 0.2946, debug_std_frame_1: 0.3201, debug_std_frame_2: 0.3692, debug_std_frame_3: 0.4240, debug_std_frame_4: 0.4806, debug_std_frame_5: 0.5423, loss_rl: -0.2232, loss_critic: 1.6471, loss_rl_bc: 0.0232, il_score: 0.5980, rl_score: 0.5925, prev_frame_loss_waypoint_0: 0.2241, prev_frame_loss_rl_bc_0: 0.0229, loss: 1.9291, grad_norm: 57.2972, il_score_sum: 59.1126, rl_score_sum: 59.2999, score_diff: -0.1873, il_win: 54.1000, rl_win: 45.6500
2025-09-24 04:20:09,480 - mmdet - INFO - Epoch [5][2740/3517]	lr: 4.665e-05, eta: 15:06:21, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.2481, debug_std_frame_0: 0.3068, debug_std_frame_1: 0.3370, debug_std_frame_2: 0.3887, debug_std_frame_3: 0.4491, debug_std_frame_4: 0.5065, debug_std_frame_5: 0.5683, loss_rl: -0.1124, loss_critic: 1.5983, loss_rl_bc: 0.0679, il_score: 0.5830, rl_score: 0.5632, prev_frame_loss_waypoint_0: 0.2574, prev_frame_loss_rl_bc_0: 0.0620, loss: 2.1320, grad_norm: 73.1215, il_score_sum: 59.2170, rl_score_sum: 59.4961, score_diff: -0.2790, il_win: 54.3500, rl_win: 46.0000
2025-09-24 04:20:25,562 - mmdet - INFO - Epoch [5][2760/3517]	lr: 4.665e-05, eta: 15:06:05, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.2212, debug_std_frame_0: 0.3651, debug_std_frame_1: 0.4068, debug_std_frame_2: 0.4697, debug_std_frame_3: 0.5249, debug_std_frame_4: 0.5858, debug_std_frame_5: 0.6390, loss_rl: -0.1390, loss_critic: 1.2289, loss_rl_bc: 0.0341, il_score: 0.5984, rl_score: 0.5427, prev_frame_loss_waypoint_0: 0.2474, prev_frame_loss_rl_bc_0: 0.0366, loss: 1.6393, grad_norm: 65.4546, il_score_sum: 59.2170, rl_score_sum: 59.4961, score_diff: -0.2790, il_win: 54.3500, rl_win: 46.0000
2025-09-24 04:20:41,531 - mmdet - INFO - Epoch [5][2780/3517]	lr: 4.665e-05, eta: 15:05:49, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.2002, debug_std_frame_0: 0.3415, debug_std_frame_1: 0.3761, debug_std_frame_2: 0.4355, debug_std_frame_3: 0.4840, debug_std_frame_4: 0.5380, debug_std_frame_5: 0.5869, loss_rl: -0.1981, loss_critic: 1.2845, loss_rl_bc: 0.0204, il_score: 0.6280, rl_score: 0.6087, prev_frame_loss_waypoint_0: 0.2315, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.5707, grad_norm: 50.2757, il_score_sum: 59.2170, rl_score_sum: 59.4961, score_diff: -0.2790, il_win: 54.3500, rl_win: 46.0000
2025-09-24 04:20:57,562 - mmdet - INFO - Epoch [5][2800/3517]	lr: 4.665e-05, eta: 15:05:32, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2005, debug_std_frame_0: 0.2806, debug_std_frame_1: 0.3174, debug_std_frame_2: 0.3815, debug_std_frame_3: 0.4380, debug_std_frame_4: 0.4960, debug_std_frame_5: 0.5535, loss_rl: -0.1658, loss_critic: 1.0621, loss_rl_bc: 0.0204, il_score: 0.6041, rl_score: 0.6128, prev_frame_loss_waypoint_0: 0.2476, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.4049, grad_norm: 51.5783, il_score_sum: 59.2170, rl_score_sum: 59.4961, score_diff: -0.2790, il_win: 54.3500, rl_win: 46.0000
2025-09-24 04:21:13,779 - mmdet - INFO - Epoch [5][2820/3517]	lr: 4.665e-05, eta: 15:05:17, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2312, debug_std_frame_0: 0.2726, debug_std_frame_1: 0.3009, debug_std_frame_2: 0.3668, debug_std_frame_3: 0.4364, debug_std_frame_4: 0.5042, debug_std_frame_5: 0.5701, loss_rl: -0.2336, loss_critic: 1.4759, loss_rl_bc: 0.0213, il_score: 0.6249, rl_score: 0.6409, prev_frame_loss_waypoint_0: 0.2426, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.7702, grad_norm: 74.9861, il_score_sum: 59.2170, rl_score_sum: 59.4961, score_diff: -0.2790, il_win: 54.3500, rl_win: 46.0000
2025-09-24 04:21:30,103 - mmdet - INFO - Epoch [5][2840/3517]	lr: 4.665e-05, eta: 15:05:02, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2987, debug_std_frame_0: 0.2976, debug_std_frame_1: 0.3258, debug_std_frame_2: 0.3819, debug_std_frame_3: 0.4489, debug_std_frame_4: 0.5129, debug_std_frame_5: 0.5753, loss_rl: -0.1404, loss_critic: 1.5707, loss_rl_bc: 0.0510, il_score: 0.5316, rl_score: 0.5147, prev_frame_loss_waypoint_0: 0.3142, prev_frame_loss_rl_bc_0: 0.0536, loss: 2.1574, grad_norm: 98.2858, il_score_sum: 59.1717, rl_score_sum: 59.2948, score_diff: -0.1231, il_win: 54.6500, rl_win: 46.3000
2025-09-24 04:21:46,136 - mmdet - INFO - Epoch [5][2860/3517]	lr: 4.665e-05, eta: 15:04:45, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2083, debug_std_frame_0: 0.3524, debug_std_frame_1: 0.3792, debug_std_frame_2: 0.4269, debug_std_frame_3: 0.4784, debug_std_frame_4: 0.5370, debug_std_frame_5: 0.5917, loss_rl: -0.2186, loss_critic: 1.3559, loss_rl_bc: 0.0257, il_score: 0.6289, rl_score: 0.5915, prev_frame_loss_waypoint_0: 0.2229, prev_frame_loss_rl_bc_0: 0.0278, loss: 1.6320, grad_norm: 60.3244, il_score_sum: 59.1717, rl_score_sum: 59.2948, score_diff: -0.1231, il_win: 54.6500, rl_win: 46.3000
2025-09-24 04:22:02,123 - mmdet - INFO - Epoch [5][2880/3517]	lr: 4.665e-05, eta: 15:04:29, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2244, debug_std_frame_0: 0.3544, debug_std_frame_1: 0.3769, debug_std_frame_2: 0.4176, debug_std_frame_3: 0.4652, debug_std_frame_4: 0.5142, debug_std_frame_5: 0.5611, loss_rl: -0.1704, loss_critic: 1.4393, loss_rl_bc: 0.0455, il_score: 0.5883, rl_score: 0.5333, prev_frame_loss_waypoint_0: 0.2483, prev_frame_loss_rl_bc_0: 0.0481, loss: 1.8454, grad_norm: 85.0413, il_score_sum: 59.1717, rl_score_sum: 59.2948, score_diff: -0.1231, il_win: 54.6500, rl_win: 46.3000
2025-09-24 04:22:18,417 - mmdet - INFO - Epoch [5][2900/3517]	lr: 4.665e-05, eta: 15:04:14, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.2063, debug_std_frame_0: 0.3874, debug_std_frame_1: 0.4125, debug_std_frame_2: 0.4529, debug_std_frame_3: 0.5023, debug_std_frame_4: 0.5589, debug_std_frame_5: 0.6062, loss_rl: -0.2292, loss_critic: 1.3593, loss_rl_bc: 0.0308, il_score: 0.6340, rl_score: 0.6064, prev_frame_loss_waypoint_0: 0.2290, prev_frame_loss_rl_bc_0: 0.0294, loss: 1.6358, grad_norm: 74.9169, il_score_sum: 59.1717, rl_score_sum: 59.2948, score_diff: -0.1231, il_win: 54.6500, rl_win: 46.3000
2025-09-24 04:22:34,662 - mmdet - INFO - Epoch [5][2920/3517]	lr: 4.665e-05, eta: 15:03:58, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2303, debug_std_frame_0: 0.3545, debug_std_frame_1: 0.3780, debug_std_frame_2: 0.4160, debug_std_frame_3: 0.4603, debug_std_frame_4: 0.5157, debug_std_frame_5: 0.5624, loss_rl: -0.2621, loss_critic: 1.5039, loss_rl_bc: 0.0220, il_score: 0.5973, rl_score: 0.6211, prev_frame_loss_waypoint_0: 0.2205, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.7480, grad_norm: 69.4162, il_score_sum: 59.1717, rl_score_sum: 59.2948, score_diff: -0.1231, il_win: 54.6500, rl_win: 46.3000
2025-09-24 04:22:50,944 - mmdet - INFO - Epoch [5][2940/3517]	lr: 4.665e-05, eta: 15:03:43, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.2482, debug_std_frame_0: 0.3582, debug_std_frame_1: 0.3874, debug_std_frame_2: 0.4306, debug_std_frame_3: 0.4836, debug_std_frame_4: 0.5453, debug_std_frame_5: 0.5989, loss_rl: -0.2119, loss_critic: 1.4030, loss_rl_bc: 0.0371, il_score: 0.6008, rl_score: 0.6240, prev_frame_loss_waypoint_0: 0.2617, prev_frame_loss_rl_bc_0: 0.0422, loss: 1.7904, grad_norm: 82.1490, il_score_sum: 59.1829, rl_score_sum: 59.1903, score_diff: -0.0074, il_win: 55.0000, rl_win: 46.6000
2025-09-24 04:23:06,921 - mmdet - INFO - Epoch [5][2960/3517]	lr: 4.665e-05, eta: 15:03:26, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2080, debug_std_frame_0: 0.3658, debug_std_frame_1: 0.3868, debug_std_frame_2: 0.4219, debug_std_frame_3: 0.4625, debug_std_frame_4: 0.5164, debug_std_frame_5: 0.5625, loss_rl: -0.2325, loss_critic: 1.1535, loss_rl_bc: 0.0185, il_score: 0.6162, rl_score: 0.6336, prev_frame_loss_waypoint_0: 0.2404, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.4231, grad_norm: 67.6150, il_score_sum: 59.1829, rl_score_sum: 59.1903, score_diff: -0.0074, il_win: 55.0000, rl_win: 46.6000
2025-09-24 04:23:22,970 - mmdet - INFO - Epoch [5][2980/3517]	lr: 4.665e-05, eta: 15:03:10, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2179, debug_std_frame_0: 0.3601, debug_std_frame_1: 0.3826, debug_std_frame_2: 0.4192, debug_std_frame_3: 0.4610, debug_std_frame_4: 0.5139, debug_std_frame_5: 0.5630, loss_rl: -0.1902, loss_critic: 1.5568, loss_rl_bc: 0.0278, il_score: 0.5902, rl_score: 0.5674, prev_frame_loss_waypoint_0: 0.2508, prev_frame_loss_rl_bc_0: 0.0322, loss: 1.9057, grad_norm: 73.5575, il_score_sum: 59.1829, rl_score_sum: 59.1903, score_diff: -0.0074, il_win: 55.0000, rl_win: 46.6000
2025-09-24 04:23:39,148 - mmdet - INFO - Epoch [5][3000/3517]	lr: 4.665e-05, eta: 15:02:54, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2015, debug_std_frame_0: 0.3174, debug_std_frame_1: 0.3386, debug_std_frame_2: 0.3728, debug_std_frame_3: 0.4171, debug_std_frame_4: 0.4718, debug_std_frame_5: 0.5350, loss_rl: -0.1709, loss_critic: 1.2479, loss_rl_bc: 0.0161, il_score: 0.6060, rl_score: 0.5931, prev_frame_loss_waypoint_0: 0.2047, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.5286, grad_norm: 63.0974, il_score_sum: 59.1829, rl_score_sum: 59.1903, score_diff: -0.0074, il_win: 55.0000, rl_win: 46.6000
2025-09-24 04:23:55,338 - mmdet - INFO - Epoch [5][3020/3517]	lr: 4.665e-05, eta: 15:02:39, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.1928, debug_std_frame_0: 0.3068, debug_std_frame_1: 0.3293, debug_std_frame_2: 0.3696, debug_std_frame_3: 0.4148, debug_std_frame_4: 0.4651, debug_std_frame_5: 0.5288, loss_rl: -0.2183, loss_critic: 1.4684, loss_rl_bc: 0.0160, il_score: 0.6009, rl_score: 0.6260, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.7196, grad_norm: 65.7149, il_score_sum: 59.1829, rl_score_sum: 59.1903, score_diff: -0.0074, il_win: 55.0000, rl_win: 46.6000
2025-09-24 04:24:11,563 - mmdet - INFO - Epoch [5][3040/3517]	lr: 4.665e-05, eta: 15:02:23, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2374, debug_std_frame_0: 0.2694, debug_std_frame_1: 0.3007, debug_std_frame_2: 0.3553, debug_std_frame_3: 0.4097, debug_std_frame_4: 0.4666, debug_std_frame_5: 0.5330, loss_rl: -0.2154, loss_critic: 1.4922, loss_rl_bc: 0.0193, il_score: 0.5869, rl_score: 0.6145, prev_frame_loss_waypoint_0: 0.2364, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.7959, grad_norm: 60.9108, il_score_sum: 59.3490, rl_score_sum: 59.2427, score_diff: 0.1064, il_win: 55.3500, rl_win: 46.8500
2025-09-24 04:24:27,708 - mmdet - INFO - Epoch [5][3060/3517]	lr: 4.665e-05, eta: 15:02:07, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2232, debug_std_frame_0: 0.2653, debug_std_frame_1: 0.2968, debug_std_frame_2: 0.3527, debug_std_frame_3: 0.4099, debug_std_frame_4: 0.4696, debug_std_frame_5: 0.5379, loss_rl: -0.1843, loss_critic: 1.4140, loss_rl_bc: 0.0296, il_score: 0.5984, rl_score: 0.5927, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.7488, grad_norm: 60.6496, il_score_sum: 59.3490, rl_score_sum: 59.2427, score_diff: 0.1064, il_win: 55.3500, rl_win: 46.8500
2025-09-24 04:24:43,758 - mmdet - INFO - Epoch [5][3080/3517]	lr: 4.665e-05, eta: 15:01:51, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2157, debug_std_frame_0: 0.2993, debug_std_frame_1: 0.3349, debug_std_frame_2: 0.3846, debug_std_frame_3: 0.4379, debug_std_frame_4: 0.5057, debug_std_frame_5: 0.5772, loss_rl: -0.2124, loss_critic: 1.3811, loss_rl_bc: 0.0224, il_score: 0.5812, rl_score: 0.6350, prev_frame_loss_waypoint_0: 0.2456, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.6886, grad_norm: 71.9720, il_score_sum: 59.3490, rl_score_sum: 59.2427, score_diff: 0.1064, il_win: 55.3500, rl_win: 46.8500
2025-09-24 04:24:59,993 - mmdet - INFO - Epoch [5][3100/3517]	lr: 4.665e-05, eta: 15:01:35, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2474, debug_std_frame_0: 0.3163, debug_std_frame_1: 0.3480, debug_std_frame_2: 0.3942, debug_std_frame_3: 0.4442, debug_std_frame_4: 0.5065, debug_std_frame_5: 0.5708, loss_rl: -0.1463, loss_critic: 1.6283, loss_rl_bc: 0.0546, il_score: 0.5969, rl_score: 0.5508, prev_frame_loss_waypoint_0: 0.2543, prev_frame_loss_rl_bc_0: 0.0478, loss: 2.0959, grad_norm: 94.8079, il_score_sum: 59.3490, rl_score_sum: 59.2427, score_diff: 0.1064, il_win: 55.3500, rl_win: 46.8500
2025-09-24 04:25:16,006 - mmdet - INFO - Epoch [5][3120/3517]	lr: 4.665e-05, eta: 15:01:19, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.1907, debug_std_frame_0: 0.3709, debug_std_frame_1: 0.4003, debug_std_frame_2: 0.4442, debug_std_frame_3: 0.4910, debug_std_frame_4: 0.5560, debug_std_frame_5: 0.6145, loss_rl: -0.1417, loss_critic: 1.6287, loss_rl_bc: 0.0317, il_score: 0.6501, rl_score: 0.5609, prev_frame_loss_waypoint_0: 0.2243, prev_frame_loss_rl_bc_0: 0.0352, loss: 1.9790, grad_norm: 65.8104, il_score_sum: 59.3490, rl_score_sum: 59.2427, score_diff: 0.1064, il_win: 55.3500, rl_win: 46.8500
2025-09-24 04:25:32,463 - mmdet - INFO - Epoch [5][3140/3517]	lr: 4.665e-05, eta: 15:01:04, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2301, debug_std_frame_0: 0.4051, debug_std_frame_1: 0.4357, debug_std_frame_2: 0.4811, debug_std_frame_3: 0.5278, debug_std_frame_4: 0.5909, debug_std_frame_5: 0.6442, loss_rl: -0.1911, loss_critic: 1.2424, loss_rl_bc: 0.0310, il_score: 0.6141, rl_score: 0.5970, prev_frame_loss_waypoint_0: 0.2401, prev_frame_loss_rl_bc_0: 0.0314, loss: 1.5945, grad_norm: 80.5792, il_score_sum: 59.4207, rl_score_sum: 59.1497, score_diff: 0.2710, il_win: 55.7500, rl_win: 47.0500
2025-09-24 04:25:48,702 - mmdet - INFO - Epoch [5][3160/3517]	lr: 4.665e-05, eta: 15:00:49, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.2340, debug_std_frame_0: 0.3685, debug_std_frame_1: 0.3999, debug_std_frame_2: 0.4443, debug_std_frame_3: 0.4889, debug_std_frame_4: 0.5457, debug_std_frame_5: 0.5981, loss_rl: -0.2522, loss_critic: 1.4051, loss_rl_bc: 0.0261, il_score: 0.6401, rl_score: 0.6317, prev_frame_loss_waypoint_0: 0.2491, prev_frame_loss_rl_bc_0: 0.0285, loss: 1.7009, grad_norm: 71.3433, il_score_sum: 59.4207, rl_score_sum: 59.1497, score_diff: 0.2710, il_win: 55.7500, rl_win: 47.0500
2025-09-24 04:26:04,916 - mmdet - INFO - Epoch [5][3180/3517]	lr: 4.665e-05, eta: 15:00:33, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2796, debug_std_frame_0: 0.3272, debug_std_frame_1: 0.3572, debug_std_frame_2: 0.4012, debug_std_frame_3: 0.4479, debug_std_frame_4: 0.5094, debug_std_frame_5: 0.5693, loss_rl: -0.2179, loss_critic: 1.2504, loss_rl_bc: 0.0263, il_score: 0.5427, rl_score: 0.6182, prev_frame_loss_waypoint_0: 0.2860, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.6598, grad_norm: 90.4055, il_score_sum: 59.4207, rl_score_sum: 59.1497, score_diff: 0.2710, il_win: 55.7500, rl_win: 47.0500
2025-09-24 04:26:20,895 - mmdet - INFO - Epoch [5][3200/3517]	lr: 4.665e-05, eta: 15:00:17, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2870, debug_std_frame_0: 0.3277, debug_std_frame_1: 0.3558, debug_std_frame_2: 0.3992, debug_std_frame_3: 0.4476, debug_std_frame_4: 0.5089, debug_std_frame_5: 0.5725, loss_rl: -0.1532, loss_critic: 1.2403, loss_rl_bc: 0.0356, il_score: 0.5589, rl_score: 0.5715, prev_frame_loss_waypoint_0: 0.3098, prev_frame_loss_rl_bc_0: 0.0406, loss: 1.7699, grad_norm: 103.6992, il_score_sum: 59.4207, rl_score_sum: 59.1497, score_diff: 0.2710, il_win: 55.7500, rl_win: 47.0500
2025-09-24 04:26:37,242 - mmdet - INFO - Epoch [5][3220/3517]	lr: 4.665e-05, eta: 15:00:02, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2665, debug_std_frame_0: 0.3139, debug_std_frame_1: 0.3462, debug_std_frame_2: 0.3962, debug_std_frame_3: 0.4461, debug_std_frame_4: 0.5132, debug_std_frame_5: 0.5795, loss_rl: -0.1549, loss_critic: 1.3411, loss_rl_bc: 0.0360, il_score: 0.5303, rl_score: 0.5367, prev_frame_loss_waypoint_0: 0.2990, prev_frame_loss_rl_bc_0: 0.0367, loss: 1.8342, grad_norm: 87.4405, il_score_sum: 59.4207, rl_score_sum: 59.1497, score_diff: 0.2710, il_win: 55.7500, rl_win: 47.0500
2025-09-24 04:26:53,564 - mmdet - INFO - Epoch [5][3240/3517]	lr: 4.665e-05, eta: 14:59:46, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0095, loss_waypoint: 0.2621, debug_std_frame_0: 0.3824, debug_std_frame_1: 0.4147, debug_std_frame_2: 0.4619, debug_std_frame_3: 0.5115, debug_std_frame_4: 0.5755, debug_std_frame_5: 0.6336, loss_rl: -0.1995, loss_critic: 1.4306, loss_rl_bc: 0.0346, il_score: 0.5824, rl_score: 0.5652, prev_frame_loss_waypoint_0: 0.2783, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.8449, grad_norm: 70.1507, il_score_sum: 59.4709, rl_score_sum: 59.0581, score_diff: 0.4129, il_win: 56.1500, rl_win: 47.2500
2025-09-24 04:27:09,620 - mmdet - INFO - Epoch [5][3260/3517]	lr: 4.665e-05, eta: 14:59:30, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2411, debug_std_frame_0: 0.3435, debug_std_frame_1: 0.3754, debug_std_frame_2: 0.4227, debug_std_frame_3: 0.4729, debug_std_frame_4: 0.5360, debug_std_frame_5: 0.5914, loss_rl: -0.2402, loss_critic: 1.3089, loss_rl_bc: 0.0264, il_score: 0.5868, rl_score: 0.5977, prev_frame_loss_waypoint_0: 0.2819, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.6597, grad_norm: 83.3923, il_score_sum: 59.4709, rl_score_sum: 59.0581, score_diff: 0.4129, il_win: 56.1500, rl_win: 47.2500
2025-09-24 04:27:25,686 - mmdet - INFO - Epoch [5][3280/3517]	lr: 4.665e-05, eta: 14:59:14, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2527, debug_std_frame_0: 0.3575, debug_std_frame_1: 0.3969, debug_std_frame_2: 0.4558, debug_std_frame_3: 0.5130, debug_std_frame_4: 0.5824, debug_std_frame_5: 0.6393, loss_rl: -0.0944, loss_critic: 1.3075, loss_rl_bc: 0.0421, il_score: 0.5325, rl_score: 0.4890, prev_frame_loss_waypoint_0: 0.2506, prev_frame_loss_rl_bc_0: 0.0445, loss: 1.8136, grad_norm: 68.5812, il_score_sum: 59.4709, rl_score_sum: 59.0581, score_diff: 0.4129, il_win: 56.1500, rl_win: 47.2500
2025-09-24 04:27:41,906 - mmdet - INFO - Epoch [5][3300/3517]	lr: 4.665e-05, eta: 14:58:58, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2279, debug_std_frame_0: 0.3854, debug_std_frame_1: 0.4255, debug_std_frame_2: 0.4825, debug_std_frame_3: 0.5408, debug_std_frame_4: 0.6144, debug_std_frame_5: 0.6681, loss_rl: -0.1827, loss_critic: 1.4020, loss_rl_bc: 0.0319, il_score: 0.5910, rl_score: 0.5600, prev_frame_loss_waypoint_0: 0.2482, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.7736, grad_norm: 65.6690, il_score_sum: 59.4709, rl_score_sum: 59.0581, score_diff: 0.4129, il_win: 56.1500, rl_win: 47.2500
2025-09-24 04:27:57,921 - mmdet - INFO - Epoch [5][3320/3517]	lr: 4.665e-05, eta: 14:58:42, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2180, debug_std_frame_0: 0.3458, debug_std_frame_1: 0.3807, debug_std_frame_2: 0.4311, debug_std_frame_3: 0.4836, debug_std_frame_4: 0.5504, debug_std_frame_5: 0.6009, loss_rl: -0.1479, loss_critic: 1.3963, loss_rl_bc: 0.0280, il_score: 0.5739, rl_score: 0.5580, prev_frame_loss_waypoint_0: 0.2459, prev_frame_loss_rl_bc_0: 0.0328, loss: 1.7842, grad_norm: 73.1184, il_score_sum: 59.4709, rl_score_sum: 59.0581, score_diff: 0.4129, il_win: 56.1500, rl_win: 47.2500
2025-09-24 04:28:14,109 - mmdet - INFO - Epoch [5][3340/3517]	lr: 4.665e-05, eta: 14:58:26, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2366, debug_std_frame_0: 0.3438, debug_std_frame_1: 0.3805, debug_std_frame_2: 0.4354, debug_std_frame_3: 0.4947, debug_std_frame_4: 0.5646, debug_std_frame_5: 0.6194, loss_rl: -0.1745, loss_critic: 1.1551, loss_rl_bc: 0.0291, il_score: 0.5687, rl_score: 0.5763, prev_frame_loss_waypoint_0: 0.2570, prev_frame_loss_rl_bc_0: 0.0342, loss: 1.5486, grad_norm: 62.2297, il_score_sum: 59.4485, rl_score_sum: 58.8329, score_diff: 0.6156, il_win: 56.6000, rl_win: 47.4000
2025-09-24 04:28:30,024 - mmdet - INFO - Epoch [5][3360/3517]	lr: 4.665e-05, eta: 14:58:09, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.3104, debug_std_frame_0: 0.3602, debug_std_frame_1: 0.3923, debug_std_frame_2: 0.4414, debug_std_frame_3: 0.4954, debug_std_frame_4: 0.5601, debug_std_frame_5: 0.6122, loss_rl: -0.2024, loss_critic: 1.3608, loss_rl_bc: 0.0258, il_score: 0.5387, rl_score: 0.6060, prev_frame_loss_waypoint_0: 0.3302, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.8625, grad_norm: 116.7819, il_score_sum: 59.4485, rl_score_sum: 58.8329, score_diff: 0.6156, il_win: 56.6000, rl_win: 47.4000
2025-09-24 04:28:46,193 - mmdet - INFO - Epoch [5][3380/3517]	lr: 4.665e-05, eta: 14:57:54, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2614, debug_std_frame_0: 0.3281, debug_std_frame_1: 0.3564, debug_std_frame_2: 0.4047, debug_std_frame_3: 0.4575, debug_std_frame_4: 0.5166, debug_std_frame_5: 0.5767, loss_rl: -0.2655, loss_critic: 1.5179, loss_rl_bc: 0.0226, il_score: 0.5852, rl_score: 0.6304, prev_frame_loss_waypoint_0: 0.2814, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.8552, grad_norm: 83.5759, il_score_sum: 59.4485, rl_score_sum: 58.8329, score_diff: 0.6156, il_win: 56.6000, rl_win: 47.4000
2025-09-24 04:29:02,177 - mmdet - INFO - Epoch [5][3400/3517]	lr: 4.665e-05, eta: 14:57:37, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.2399, debug_std_frame_0: 0.3088, debug_std_frame_1: 0.3391, debug_std_frame_2: 0.3910, debug_std_frame_3: 0.4486, debug_std_frame_4: 0.5090, debug_std_frame_5: 0.5724, loss_rl: -0.1578, loss_critic: 1.1001, loss_rl_bc: 0.0299, il_score: 0.6164, rl_score: 0.6068, prev_frame_loss_waypoint_0: 0.2658, prev_frame_loss_rl_bc_0: 0.0307, loss: 1.5197, grad_norm: 81.7839, il_score_sum: 59.4485, rl_score_sum: 58.8329, score_diff: 0.6156, il_win: 56.6000, rl_win: 47.4000
2025-09-24 04:29:18,142 - mmdet - INFO - Epoch [5][3420/3517]	lr: 4.665e-05, eta: 14:57:21, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2488, debug_std_frame_0: 0.3413, debug_std_frame_1: 0.3737, debug_std_frame_2: 0.4247, debug_std_frame_3: 0.4794, debug_std_frame_4: 0.5425, debug_std_frame_5: 0.6009, loss_rl: -0.2117, loss_critic: 1.4754, loss_rl_bc: 0.0319, il_score: 0.5964, rl_score: 0.5968, prev_frame_loss_waypoint_0: 0.2660, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.8501, grad_norm: 80.2700, il_score_sum: 59.4485, rl_score_sum: 58.8329, score_diff: 0.6156, il_win: 56.6000, rl_win: 47.4000
2025-09-24 04:29:34,285 - mmdet - INFO - Epoch [5][3440/3517]	lr: 4.665e-05, eta: 14:57:05, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.2460, debug_std_frame_0: 0.3292, debug_std_frame_1: 0.3636, debug_std_frame_2: 0.4175, debug_std_frame_3: 0.4776, debug_std_frame_4: 0.5450, debug_std_frame_5: 0.6076, loss_rl: -0.1754, loss_critic: 1.3134, loss_rl_bc: 0.0243, il_score: 0.5817, rl_score: 0.6017, prev_frame_loss_waypoint_0: 0.2641, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.7085, grad_norm: 62.5552, il_score_sum: 59.3038, rl_score_sum: 58.9701, score_diff: 0.3337, il_win: 57.0000, rl_win: 47.6000
2025-09-24 04:29:50,165 - mmdet - INFO - Epoch [5][3460/3517]	lr: 4.665e-05, eta: 14:56:48, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.2318, debug_std_frame_0: 0.3003, debug_std_frame_1: 0.3287, debug_std_frame_2: 0.3735, debug_std_frame_3: 0.4355, debug_std_frame_4: 0.4995, debug_std_frame_5: 0.5630, loss_rl: -0.1852, loss_critic: 1.4015, loss_rl_bc: 0.0194, il_score: 0.5906, rl_score: 0.6192, prev_frame_loss_waypoint_0: 0.2666, prev_frame_loss_rl_bc_0: 0.0243, loss: 1.7698, grad_norm: 84.1471, il_score_sum: 59.3038, rl_score_sum: 58.9701, score_diff: 0.3337, il_win: 57.0000, rl_win: 47.6000
2025-09-24 04:30:06,162 - mmdet - INFO - Epoch [5][3480/3517]	lr: 4.665e-05, eta: 14:56:31, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.2033, debug_std_frame_0: 0.2649, debug_std_frame_1: 0.2931, debug_std_frame_2: 0.3373, debug_std_frame_3: 0.3998, debug_std_frame_4: 0.4641, debug_std_frame_5: 0.5240, loss_rl: -0.2182, loss_critic: 1.1788, loss_rl_bc: 0.0178, il_score: 0.6335, rl_score: 0.6475, prev_frame_loss_waypoint_0: 0.2054, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.4191, grad_norm: 52.6589, il_score_sum: 59.3038, rl_score_sum: 58.9701, score_diff: 0.3337, il_win: 57.0000, rl_win: 47.6000
2025-09-24 04:30:22,212 - mmdet - INFO - Epoch [5][3500/3517]	lr: 4.665e-05, eta: 14:56:15, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0114, loss_waypoint: 0.2260, debug_std_frame_0: 0.2689, debug_std_frame_1: 0.2937, debug_std_frame_2: 0.3336, debug_std_frame_3: 0.3902, debug_std_frame_4: 0.4492, debug_std_frame_5: 0.5101, loss_rl: -0.2426, loss_critic: 1.3692, loss_rl_bc: 0.0134, il_score: 0.6066, rl_score: 0.6515, prev_frame_loss_waypoint_0: 0.2517, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.6434, grad_norm: 77.1939, il_score_sum: 59.3038, rl_score_sum: 58.9701, score_diff: 0.3337, il_win: 57.0000, rl_win: 47.6000
2025-09-24 04:30:35,403 - mmdet - INFO - Saving checkpoint at 5 epochs
2025-09-24 04:33:08,348 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 04:33:08,348 - mmdet - INFO - Epoch(val) [5][753]	plan_L2_1s: 0.5667, plan_L2_2s: 1.0073, plan_L2_3s: 1.5390, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0001, plan_obj_col_3s: 0.0002, plan_obj_box_col_1s: 0.0023, plan_obj_box_col_2s: 0.0044, plan_obj_box_col_3s: 0.0119, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.6657, plan_L2_2s_rl_actor: 1.1686, plan_L2_3s_rl_actor: 1.7389, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0001, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0079, plan_obj_box_col_2s_rl_actor: 0.0134, plan_obj_box_col_3s_rl_actor: 0.0207, fut_valid_flag_rl_actor: 1.0000
2025-09-24 04:33:33,307 - mmdet - INFO - Epoch [6][20/3517]	lr: 4.484e-05, eta: 14:55:27, time: 1.246, data_time: 0.339, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.2104, debug_std_frame_0: 0.2972, debug_std_frame_1: 0.3347, debug_std_frame_2: 0.3787, debug_std_frame_3: 0.4296, debug_std_frame_4: 0.4819, debug_std_frame_5: 0.5367, loss_rl: -0.1909, loss_critic: 1.5788, loss_rl_bc: 0.0310, il_score: 0.6168, rl_score: 0.5725, prev_frame_loss_waypoint_0: 0.2424, prev_frame_loss_rl_bc_0: 0.0319, loss: 1.9152, grad_norm: 82.0903, il_score_sum: 60.6910, rl_score_sum: 62.3182, score_diff: -1.6272, il_win: 61.0000, rl_win: 51.0000
2025-09-24 04:33:49,957 - mmdet - INFO - Epoch [6][40/3517]	lr: 4.484e-05, eta: 14:55:13, time: 0.833, data_time: 0.013, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.2110, debug_std_frame_0: 0.3194, debug_std_frame_1: 0.3649, debug_std_frame_2: 0.4159, debug_std_frame_3: 0.4702, debug_std_frame_4: 0.5287, debug_std_frame_5: 0.5865, loss_rl: -0.1806, loss_critic: 1.4711, loss_rl_bc: 0.0313, il_score: 0.6120, rl_score: 0.5822, prev_frame_loss_waypoint_0: 0.2101, prev_frame_loss_rl_bc_0: 0.0322, loss: 1.7863, grad_norm: 54.0918, il_score_sum: 60.6910, rl_score_sum: 62.3182, score_diff: -1.6272, il_win: 61.0000, rl_win: 51.0000
2025-09-24 04:34:06,621 - mmdet - INFO - Epoch [6][60/3517]	lr: 4.484e-05, eta: 14:54:59, time: 0.833, data_time: 0.014, memory: 8550, loss_rec: 0.0117, loss_waypoint: 0.2108, debug_std_frame_0: 0.3388, debug_std_frame_1: 0.3819, debug_std_frame_2: 0.4330, debug_std_frame_3: 0.4891, debug_std_frame_4: 0.5568, debug_std_frame_5: 0.6106, loss_rl: -0.1923, loss_critic: 1.4581, loss_rl_bc: 0.0330, il_score: 0.6248, rl_score: 0.5769, prev_frame_loss_waypoint_0: 0.2423, prev_frame_loss_rl_bc_0: 0.0345, loss: 1.7980, grad_norm: 62.6315, il_score_sum: 60.6910, rl_score_sum: 62.3182, score_diff: -1.6272, il_win: 61.0000, rl_win: 51.0000
2025-09-24 04:34:23,289 - mmdet - INFO - Epoch [6][80/3517]	lr: 4.484e-05, eta: 14:54:45, time: 0.833, data_time: 0.012, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2098, debug_std_frame_0: 0.3215, debug_std_frame_1: 0.3663, debug_std_frame_2: 0.4199, debug_std_frame_3: 0.4817, debug_std_frame_4: 0.5485, debug_std_frame_5: 0.6030, loss_rl: -0.2132, loss_critic: 1.1583, loss_rl_bc: 0.0178, il_score: 0.6154, rl_score: 0.6368, prev_frame_loss_waypoint_0: 0.2514, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.4584, grad_norm: 75.8145, il_score_sum: 60.6910, rl_score_sum: 62.3182, score_diff: -1.6272, il_win: 61.0000, rl_win: 51.0000
2025-09-24 04:34:39,961 - mmdet - INFO - Epoch [6][100/3517]	lr: 4.484e-05, eta: 14:54:31, time: 0.834, data_time: 0.013, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.2071, debug_std_frame_0: 0.3240, debug_std_frame_1: 0.3641, debug_std_frame_2: 0.4163, debug_std_frame_3: 0.4778, debug_std_frame_4: 0.5377, debug_std_frame_5: 0.5938, loss_rl: -0.1389, loss_critic: 1.4207, loss_rl_bc: 0.0376, il_score: 0.6159, rl_score: 0.5423, prev_frame_loss_waypoint_0: 0.2394, prev_frame_loss_rl_bc_0: 0.0370, loss: 1.8143, grad_norm: 61.7528, il_score_sum: 60.6910, rl_score_sum: 62.3182, score_diff: -1.6272, il_win: 61.0000, rl_win: 51.0000
2025-09-24 04:34:56,612 - mmdet - INFO - Epoch [6][120/3517]	lr: 4.484e-05, eta: 14:54:17, time: 0.833, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2414, debug_std_frame_0: 0.3772, debug_std_frame_1: 0.4110, debug_std_frame_2: 0.4542, debug_std_frame_3: 0.5065, debug_std_frame_4: 0.5646, debug_std_frame_5: 0.6150, loss_rl: -0.2000, loss_critic: 1.4692, loss_rl_bc: 0.0345, il_score: 0.5746, rl_score: 0.5717, prev_frame_loss_waypoint_0: 0.2560, prev_frame_loss_rl_bc_0: 0.0316, loss: 1.8431, grad_norm: 67.5346, il_score_sum: 61.1900, rl_score_sum: 60.4367, score_diff: 0.7532, il_win: 61.5000, rl_win: 51.0000
2025-09-24 04:35:12,692 - mmdet - INFO - Epoch [6][140/3517]	lr: 4.484e-05, eta: 14:54:01, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0099, loss_waypoint: 0.2165, debug_std_frame_0: 0.3458, debug_std_frame_1: 0.3834, debug_std_frame_2: 0.4345, debug_std_frame_3: 0.4956, debug_std_frame_4: 0.5609, debug_std_frame_5: 0.6147, loss_rl: -0.1982, loss_critic: 1.1720, loss_rl_bc: 0.0209, il_score: 0.5940, rl_score: 0.6111, prev_frame_loss_waypoint_0: 0.2490, prev_frame_loss_rl_bc_0: 0.0640, loss: 1.5340, grad_norm: 66.3457, il_score_sum: 61.1900, rl_score_sum: 60.4367, score_diff: 0.7532, il_win: 61.5000, rl_win: 51.0000
2025-09-24 04:35:29,060 - mmdet - INFO - Epoch [6][160/3517]	lr: 4.484e-05, eta: 14:53:46, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0100, loss_waypoint: 0.2451, debug_std_frame_0: 0.3176, debug_std_frame_1: 0.3541, debug_std_frame_2: 0.4091, debug_std_frame_3: 0.4859, debug_std_frame_4: 0.5473, debug_std_frame_5: 0.6069, loss_rl: -0.1919, loss_critic: 1.2373, loss_rl_bc: 0.0264, il_score: 0.5879, rl_score: 0.6066, prev_frame_loss_waypoint_0: 0.2385, prev_frame_loss_rl_bc_0: 0.0229, loss: 1.5883, grad_norm: 74.8768, il_score_sum: 61.1900, rl_score_sum: 60.4367, score_diff: 0.7532, il_win: 61.5000, rl_win: 51.0000
2025-09-24 04:35:45,482 - mmdet - INFO - Epoch [6][180/3517]	lr: 4.484e-05, eta: 14:53:31, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2004, debug_std_frame_0: 0.2748, debug_std_frame_1: 0.3070, debug_std_frame_2: 0.3574, debug_std_frame_3: 0.4436, debug_std_frame_4: 0.5051, debug_std_frame_5: 0.5703, loss_rl: -0.1936, loss_critic: 1.4628, loss_rl_bc: 0.0204, il_score: 0.5863, rl_score: 0.6067, prev_frame_loss_waypoint_0: 0.2115, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.7303, grad_norm: 61.4682, il_score_sum: 61.1900, rl_score_sum: 60.4367, score_diff: 0.7532, il_win: 61.5000, rl_win: 51.0000
2025-09-24 04:36:01,828 - mmdet - INFO - Epoch [6][200/3517]	lr: 4.484e-05, eta: 14:53:16, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.2235, debug_std_frame_0: 0.2811, debug_std_frame_1: 0.3143, debug_std_frame_2: 0.3599, debug_std_frame_3: 0.4342, debug_std_frame_4: 0.4908, debug_std_frame_5: 0.5512, loss_rl: -0.1452, loss_critic: 1.5105, loss_rl_bc: 0.0313, il_score: 0.5922, rl_score: 0.5624, prev_frame_loss_waypoint_0: 0.2416, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.9030, grad_norm: 88.9883, il_score_sum: 61.1900, rl_score_sum: 60.4367, score_diff: 0.7532, il_win: 61.5000, rl_win: 51.0000
2025-09-24 04:36:18,344 - mmdet - INFO - Epoch [6][220/3517]	lr: 4.484e-05, eta: 14:53:02, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2551, debug_std_frame_0: 0.2942, debug_std_frame_1: 0.3283, debug_std_frame_2: 0.3752, debug_std_frame_3: 0.4416, debug_std_frame_4: 0.5007, debug_std_frame_5: 0.5612, loss_rl: -0.1482, loss_critic: 1.4546, loss_rl_bc: 0.0293, il_score: 0.5356, rl_score: 0.5585, prev_frame_loss_waypoint_0: 0.2766, prev_frame_loss_rl_bc_0: 0.0302, loss: 1.9086, grad_norm: 87.3142, il_score_sum: 60.0634, rl_score_sum: 59.9655, score_diff: 0.0979, il_win: 61.6667, rl_win: 51.3333
2025-09-24 04:36:34,559 - mmdet - INFO - Epoch [6][240/3517]	lr: 4.484e-05, eta: 14:52:46, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2305, debug_std_frame_0: 0.3103, debug_std_frame_1: 0.3384, debug_std_frame_2: 0.3748, debug_std_frame_3: 0.4318, debug_std_frame_4: 0.4830, debug_std_frame_5: 0.5374, loss_rl: -0.1909, loss_critic: 1.6589, loss_rl_bc: 0.0282, il_score: 0.5844, rl_score: 0.5781, prev_frame_loss_waypoint_0: 0.2544, prev_frame_loss_rl_bc_0: 0.0275, loss: 2.0198, grad_norm: 68.6868, il_score_sum: 60.0634, rl_score_sum: 59.9655, score_diff: 0.0979, il_win: 61.6667, rl_win: 51.3333
2025-09-24 04:36:50,894 - mmdet - INFO - Epoch [6][260/3517]	lr: 4.484e-05, eta: 14:52:31, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0103, loss_waypoint: 0.1880, debug_std_frame_0: 0.3058, debug_std_frame_1: 0.3379, debug_std_frame_2: 0.3788, debug_std_frame_3: 0.4379, debug_std_frame_4: 0.4895, debug_std_frame_5: 0.5468, loss_rl: -0.1729, loss_critic: 1.4857, loss_rl_bc: 0.0195, il_score: 0.6247, rl_score: 0.6093, prev_frame_loss_waypoint_0: 0.2229, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.7761, grad_norm: 50.6688, il_score_sum: 60.0634, rl_score_sum: 59.9655, score_diff: 0.0979, il_win: 61.6667, rl_win: 51.3333
2025-09-24 04:37:07,197 - mmdet - INFO - Epoch [6][280/3517]	lr: 4.484e-05, eta: 14:52:16, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0097, loss_waypoint: 0.2195, debug_std_frame_0: 0.2831, debug_std_frame_1: 0.3128, debug_std_frame_2: 0.3567, debug_std_frame_3: 0.4180, debug_std_frame_4: 0.4701, debug_std_frame_5: 0.5326, loss_rl: -0.2023, loss_critic: 1.2587, loss_rl_bc: 0.0181, il_score: 0.5711, rl_score: 0.5869, prev_frame_loss_waypoint_0: 0.2521, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.5784, grad_norm: 60.3189, il_score_sum: 60.0634, rl_score_sum: 59.9655, score_diff: 0.0979, il_win: 61.6667, rl_win: 51.3333
2025-09-24 04:37:23,394 - mmdet - INFO - Epoch [6][300/3517]	lr: 4.484e-05, eta: 14:52:00, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2749, debug_std_frame_0: 0.2862, debug_std_frame_1: 0.3169, debug_std_frame_2: 0.3628, debug_std_frame_3: 0.4232, debug_std_frame_4: 0.4826, debug_std_frame_5: 0.5443, loss_rl: -0.1739, loss_critic: 1.5722, loss_rl_bc: 0.0290, il_score: 0.5731, rl_score: 0.6105, prev_frame_loss_waypoint_0: 0.2632, prev_frame_loss_rl_bc_0: 0.0252, loss: 2.0007, grad_norm: 85.4814, il_score_sum: 60.0634, rl_score_sum: 59.9655, score_diff: 0.0979, il_win: 61.6667, rl_win: 51.3333
2025-09-24 04:37:39,963 - mmdet - INFO - Epoch [6][320/3517]	lr: 4.484e-05, eta: 14:51:46, time: 0.829, data_time: 0.012, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.1826, debug_std_frame_0: 0.2704, debug_std_frame_1: 0.2994, debug_std_frame_2: 0.3425, debug_std_frame_3: 0.4054, debug_std_frame_4: 0.4606, debug_std_frame_5: 0.5196, loss_rl: -0.2272, loss_critic: 1.6668, loss_rl_bc: 0.0111, il_score: 0.6307, rl_score: 0.6276, prev_frame_loss_waypoint_0: 0.2076, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.8640, grad_norm: 46.2729, il_score_sum: 59.8257, rl_score_sum: 59.8583, score_diff: -0.0326, il_win: 61.7500, rl_win: 51.5000
2025-09-24 04:37:56,219 - mmdet - INFO - Epoch [6][340/3517]	lr: 4.484e-05, eta: 14:51:30, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2325, debug_std_frame_0: 0.2627, debug_std_frame_1: 0.2931, debug_std_frame_2: 0.3347, debug_std_frame_3: 0.3969, debug_std_frame_4: 0.4561, debug_std_frame_5: 0.5209, loss_rl: -0.1975, loss_critic: 1.4551, loss_rl_bc: 0.0282, il_score: 0.5572, rl_score: 0.5931, prev_frame_loss_waypoint_0: 0.2371, prev_frame_loss_rl_bc_0: 0.0243, loss: 1.7903, grad_norm: 69.3672, il_score_sum: 59.8257, rl_score_sum: 59.8583, score_diff: -0.0326, il_win: 61.7500, rl_win: 51.5000
2025-09-24 04:38:12,360 - mmdet - INFO - Epoch [6][360/3517]	lr: 4.484e-05, eta: 14:51:14, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0102, loss_waypoint: 0.2340, debug_std_frame_0: 0.2968, debug_std_frame_1: 0.3305, debug_std_frame_2: 0.3791, debug_std_frame_3: 0.4402, debug_std_frame_4: 0.4959, debug_std_frame_5: 0.5588, loss_rl: -0.1564, loss_critic: 1.1994, loss_rl_bc: 0.0322, il_score: 0.5873, rl_score: 0.5655, prev_frame_loss_waypoint_0: 0.2574, prev_frame_loss_rl_bc_0: 0.0325, loss: 1.6094, grad_norm: 66.3542, il_score_sum: 59.8257, rl_score_sum: 59.8583, score_diff: -0.0326, il_win: 61.7500, rl_win: 51.5000
2025-09-24 04:38:28,593 - mmdet - INFO - Epoch [6][380/3517]	lr: 4.484e-05, eta: 14:50:59, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2221, debug_std_frame_0: 0.3034, debug_std_frame_1: 0.3413, debug_std_frame_2: 0.3957, debug_std_frame_3: 0.4571, debug_std_frame_4: 0.5128, debug_std_frame_5: 0.5722, loss_rl: -0.2420, loss_critic: 1.3492, loss_rl_bc: 0.0244, il_score: 0.5941, rl_score: 0.6022, prev_frame_loss_waypoint_0: 0.2559, prev_frame_loss_rl_bc_0: 0.0336, loss: 1.6536, grad_norm: 60.7576, il_score_sum: 59.8257, rl_score_sum: 59.8583, score_diff: -0.0326, il_win: 61.7500, rl_win: 51.5000
2025-09-24 04:38:44,705 - mmdet - INFO - Epoch [6][400/3517]	lr: 4.484e-05, eta: 14:50:43, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0101, loss_waypoint: 0.2535, debug_std_frame_0: 0.3037, debug_std_frame_1: 0.3370, debug_std_frame_2: 0.3845, debug_std_frame_3: 0.4456, debug_std_frame_4: 0.5027, debug_std_frame_5: 0.5641, loss_rl: -0.2161, loss_critic: 1.1325, loss_rl_bc: 0.0219, il_score: 0.6132, rl_score: 0.6517, prev_frame_loss_waypoint_0: 0.2441, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.4656, grad_norm: 89.5268, il_score_sum: 59.8257, rl_score_sum: 59.8583, score_diff: -0.0326, il_win: 61.7500, rl_win: 51.5000
2025-09-24 04:39:01,076 - mmdet - INFO - Epoch [6][420/3517]	lr: 4.484e-05, eta: 14:50:28, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.2423, debug_std_frame_0: 0.2679, debug_std_frame_1: 0.3026, debug_std_frame_2: 0.3535, debug_std_frame_3: 0.4155, debug_std_frame_4: 0.4751, debug_std_frame_5: 0.5391, loss_rl: -0.1926, loss_critic: 1.4009, loss_rl_bc: 0.0228, il_score: 0.5905, rl_score: 0.6293, prev_frame_loss_waypoint_0: 0.2312, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.7340, grad_norm: 84.7518, il_score_sum: 59.6225, rl_score_sum: 60.0944, score_diff: -0.4719, il_win: 61.8000, rl_win: 51.8000
2025-09-24 04:39:17,017 - mmdet - INFO - Epoch [6][440/3517]	lr: 4.484e-05, eta: 14:50:11, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2036, debug_std_frame_0: 0.2447, debug_std_frame_1: 0.2814, debug_std_frame_2: 0.3371, debug_std_frame_3: 0.4018, debug_std_frame_4: 0.4685, debug_std_frame_5: 0.5330, loss_rl: -0.1830, loss_critic: 1.2398, loss_rl_bc: 0.0146, il_score: 0.5922, rl_score: 0.6308, prev_frame_loss_waypoint_0: 0.2202, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.5238, grad_norm: 59.8361, il_score_sum: 59.6225, rl_score_sum: 60.0944, score_diff: -0.4719, il_win: 61.8000, rl_win: 51.8000
2025-09-24 04:39:32,917 - mmdet - INFO - Epoch [6][460/3517]	lr: 4.484e-05, eta: 14:49:54, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.2186, debug_std_frame_0: 0.2415, debug_std_frame_1: 0.2785, debug_std_frame_2: 0.3365, debug_std_frame_3: 0.4068, debug_std_frame_4: 0.4758, debug_std_frame_5: 0.5418, loss_rl: -0.2408, loss_critic: 1.4357, loss_rl_bc: 0.0168, il_score: 0.6103, rl_score: 0.6357, prev_frame_loss_waypoint_0: 0.2372, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.6986, grad_norm: 76.7469, il_score_sum: 59.6225, rl_score_sum: 60.0944, score_diff: -0.4719, il_win: 61.8000, rl_win: 51.8000
2025-09-24 04:39:49,346 - mmdet - INFO - Epoch [6][480/3517]	lr: 4.484e-05, eta: 14:49:39, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2233, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2892, debug_std_frame_2: 0.3519, debug_std_frame_3: 0.4272, debug_std_frame_4: 0.5050, debug_std_frame_5: 0.5743, loss_rl: -0.1735, loss_critic: 1.2371, loss_rl_bc: 0.0220, il_score: 0.6017, rl_score: 0.5994, prev_frame_loss_waypoint_0: 0.2483, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.5973, grad_norm: 75.7395, il_score_sum: 59.6225, rl_score_sum: 60.0944, score_diff: -0.4719, il_win: 61.8000, rl_win: 51.8000
2025-09-24 04:40:05,350 - mmdet - INFO - Epoch [6][500/3517]	lr: 4.484e-05, eta: 14:49:23, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2060, debug_std_frame_0: 0.2836, debug_std_frame_1: 0.3175, debug_std_frame_2: 0.3619, debug_std_frame_3: 0.4204, debug_std_frame_4: 0.4878, debug_std_frame_5: 0.5514, loss_rl: -0.2338, loss_critic: 1.3593, loss_rl_bc: 0.0192, il_score: 0.6083, rl_score: 0.6228, prev_frame_loss_waypoint_0: 0.2033, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.5822, grad_norm: 47.8594, il_score_sum: 59.6225, rl_score_sum: 60.0944, score_diff: -0.4719, il_win: 61.8000, rl_win: 51.8000
2025-09-24 04:40:21,679 - mmdet - INFO - Epoch [6][520/3517]	lr: 4.484e-05, eta: 14:49:08, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0111, loss_waypoint: 0.2352, debug_std_frame_0: 0.2725, debug_std_frame_1: 0.3073, debug_std_frame_2: 0.3524, debug_std_frame_3: 0.4067, debug_std_frame_4: 0.4682, debug_std_frame_5: 0.5343, loss_rl: -0.2648, loss_critic: 1.3764, loss_rl_bc: 0.0142, il_score: 0.5720, rl_score: 0.6395, prev_frame_loss_waypoint_0: 0.2566, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.6463, grad_norm: 89.8111, il_score_sum: 59.6774, rl_score_sum: 60.5262, score_diff: -0.8488, il_win: 61.8333, rl_win: 52.1667
2025-09-24 04:40:37,687 - mmdet - INFO - Epoch [6][540/3517]	lr: 4.484e-05, eta: 14:48:51, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2213, debug_std_frame_0: 0.2587, debug_std_frame_1: 0.2947, debug_std_frame_2: 0.3435, debug_std_frame_3: 0.4013, debug_std_frame_4: 0.4598, debug_std_frame_5: 0.5290, loss_rl: -0.1964, loss_critic: 1.3511, loss_rl_bc: 0.0210, il_score: 0.6009, rl_score: 0.6027, prev_frame_loss_waypoint_0: 0.2394, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.6703, grad_norm: 69.0547, il_score_sum: 59.6774, rl_score_sum: 60.5262, score_diff: -0.8488, il_win: 61.8333, rl_win: 52.1667
2025-09-24 04:40:53,811 - mmdet - INFO - Epoch [6][560/3517]	lr: 4.484e-05, eta: 14:48:35, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.1944, debug_std_frame_0: 0.2468, debug_std_frame_1: 0.2810, debug_std_frame_2: 0.3309, debug_std_frame_3: 0.3866, debug_std_frame_4: 0.4492, debug_std_frame_5: 0.5171, loss_rl: -0.2149, loss_critic: 1.2092, loss_rl_bc: 0.0109, il_score: 0.6337, rl_score: 0.6476, prev_frame_loss_waypoint_0: 0.2157, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.4394, grad_norm: 60.8336, il_score_sum: 59.6774, rl_score_sum: 60.5262, score_diff: -0.8488, il_win: 61.8333, rl_win: 52.1667
2025-09-24 04:41:10,068 - mmdet - INFO - Epoch [6][580/3517]	lr: 4.484e-05, eta: 14:48:20, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2250, debug_std_frame_0: 0.2485, debug_std_frame_1: 0.2814, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.4011, debug_std_frame_4: 0.4657, debug_std_frame_5: 0.5348, loss_rl: -0.1503, loss_critic: 1.1143, loss_rl_bc: 0.0309, il_score: 0.6177, rl_score: 0.6124, prev_frame_loss_waypoint_0: 0.2339, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.4921, grad_norm: 66.2877, il_score_sum: 59.6774, rl_score_sum: 60.5262, score_diff: -0.8488, il_win: 61.8333, rl_win: 52.1667
2025-09-24 04:41:26,143 - mmdet - INFO - Epoch [6][600/3517]	lr: 4.484e-05, eta: 14:48:04, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.2137, debug_std_frame_0: 0.2791, debug_std_frame_1: 0.3098, debug_std_frame_2: 0.3566, debug_std_frame_3: 0.4156, debug_std_frame_4: 0.4797, debug_std_frame_5: 0.5468, loss_rl: -0.2007, loss_critic: 1.4720, loss_rl_bc: 0.0182, il_score: 0.6370, rl_score: 0.6247, prev_frame_loss_waypoint_0: 0.2162, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.7480, grad_norm: 72.0519, il_score_sum: 59.6774, rl_score_sum: 60.5262, score_diff: -0.8488, il_win: 61.8333, rl_win: 52.1667
2025-09-24 04:41:42,530 - mmdet - INFO - Epoch [6][620/3517]	lr: 4.484e-05, eta: 14:47:49, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2197, debug_std_frame_0: 0.2803, debug_std_frame_1: 0.3100, debug_std_frame_2: 0.3589, debug_std_frame_3: 0.4194, debug_std_frame_4: 0.4805, debug_std_frame_5: 0.5531, loss_rl: -0.1971, loss_critic: 1.2646, loss_rl_bc: 0.0273, il_score: 0.6001, rl_score: 0.6095, prev_frame_loss_waypoint_0: 0.2309, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.5852, grad_norm: 60.5633, il_score_sum: 59.9701, rl_score_sum: 60.7309, score_diff: -0.7608, il_win: 61.8571, rl_win: 52.4286
2025-09-24 04:41:58,863 - mmdet - INFO - Epoch [6][640/3517]	lr: 4.484e-05, eta: 14:47:33, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0107, loss_waypoint: 0.2138, debug_std_frame_0: 0.2905, debug_std_frame_1: 0.3206, debug_std_frame_2: 0.3666, debug_std_frame_3: 0.4287, debug_std_frame_4: 0.4903, debug_std_frame_5: 0.5594, loss_rl: -0.1441, loss_critic: 1.4378, loss_rl_bc: 0.0347, il_score: 0.5952, rl_score: 0.5475, prev_frame_loss_waypoint_0: 0.2344, prev_frame_loss_rl_bc_0: 0.0379, loss: 1.8253, grad_norm: 73.8870, il_score_sum: 59.9701, rl_score_sum: 60.7309, score_diff: -0.7608, il_win: 61.8571, rl_win: 52.4286
2025-09-24 04:42:14,918 - mmdet - INFO - Epoch [6][660/3517]	lr: 4.484e-05, eta: 14:47:17, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0098, loss_waypoint: 0.2661, debug_std_frame_0: 0.3445, debug_std_frame_1: 0.3769, debug_std_frame_2: 0.4234, debug_std_frame_3: 0.4811, debug_std_frame_4: 0.5406, debug_std_frame_5: 0.6015, loss_rl: -0.0963, loss_critic: 1.2935, loss_rl_bc: 0.0494, il_score: 0.5725, rl_score: 0.4995, prev_frame_loss_waypoint_0: 0.2942, prev_frame_loss_rl_bc_0: 0.0550, loss: 1.8717, grad_norm: 98.2881, il_score_sum: 59.9701, rl_score_sum: 60.7309, score_diff: -0.7608, il_win: 61.8571, rl_win: 52.4286
2025-09-24 04:42:31,041 - mmdet - INFO - Epoch [6][680/3517]	lr: 4.484e-05, eta: 14:47:01, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2403, debug_std_frame_0: 0.3722, debug_std_frame_1: 0.4005, debug_std_frame_2: 0.4440, debug_std_frame_3: 0.4946, debug_std_frame_4: 0.5551, debug_std_frame_5: 0.6071, loss_rl: -0.2254, loss_critic: 1.4347, loss_rl_bc: 0.0252, il_score: 0.6020, rl_score: 0.6123, prev_frame_loss_waypoint_0: 0.2399, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.7545, grad_norm: 63.4157, il_score_sum: 59.9701, rl_score_sum: 60.7309, score_diff: -0.7608, il_win: 61.8571, rl_win: 52.4286
2025-09-24 04:42:46,979 - mmdet - INFO - Epoch [6][700/3517]	lr: 4.484e-05, eta: 14:46:45, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.2317, debug_std_frame_0: 0.3631, debug_std_frame_1: 0.3884, debug_std_frame_2: 0.4338, debug_std_frame_3: 0.4855, debug_std_frame_4: 0.5497, debug_std_frame_5: 0.6015, loss_rl: -0.1828, loss_critic: 1.2980, loss_rl_bc: 0.0284, il_score: 0.5892, rl_score: 0.6026, prev_frame_loss_waypoint_0: 0.2419, prev_frame_loss_rl_bc_0: 0.0308, loss: 1.6594, grad_norm: 65.1591, il_score_sum: 59.9701, rl_score_sum: 60.7309, score_diff: -0.7608, il_win: 61.8571, rl_win: 52.4286
2025-09-24 04:43:03,373 - mmdet - INFO - Epoch [6][720/3517]	lr: 4.484e-05, eta: 14:46:30, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2100, debug_std_frame_0: 0.3315, debug_std_frame_1: 0.3565, debug_std_frame_2: 0.3990, debug_std_frame_3: 0.4482, debug_std_frame_4: 0.5118, debug_std_frame_5: 0.5705, loss_rl: -0.1884, loss_critic: 1.2621, loss_rl_bc: 0.0202, il_score: 0.6436, rl_score: 0.6267, prev_frame_loss_waypoint_0: 0.2222, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.5592, grad_norm: 79.1857, il_score_sum: 59.9647, rl_score_sum: 60.3447, score_diff: -0.3800, il_win: 62.0000, rl_win: 52.6250
2025-09-24 04:43:19,403 - mmdet - INFO - Epoch [6][740/3517]	lr: 4.484e-05, eta: 14:46:13, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2360, debug_std_frame_0: 0.2982, debug_std_frame_1: 0.3279, debug_std_frame_2: 0.3747, debug_std_frame_3: 0.4346, debug_std_frame_4: 0.4976, debug_std_frame_5: 0.5668, loss_rl: -0.1733, loss_critic: 1.2940, loss_rl_bc: 0.0229, il_score: 0.5615, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2275, prev_frame_loss_rl_bc_0: 0.0207, loss: 1.6383, grad_norm: 47.4927, il_score_sum: 59.9647, rl_score_sum: 60.3447, score_diff: -0.3800, il_win: 62.0000, rl_win: 52.6250
2025-09-24 04:43:35,437 - mmdet - INFO - Epoch [6][760/3517]	lr: 4.484e-05, eta: 14:45:57, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0105, loss_waypoint: 0.2162, debug_std_frame_0: 0.2700, debug_std_frame_1: 0.2997, debug_std_frame_2: 0.3487, debug_std_frame_3: 0.4095, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5375, loss_rl: -0.1948, loss_critic: 1.0811, loss_rl_bc: 0.0193, il_score: 0.6111, rl_score: 0.6279, prev_frame_loss_waypoint_0: 0.2134, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.3652, grad_norm: 60.1583, il_score_sum: 59.9647, rl_score_sum: 60.3447, score_diff: -0.3800, il_win: 62.0000, rl_win: 52.6250
2025-09-24 04:43:51,405 - mmdet - INFO - Epoch [6][780/3517]	lr: 4.484e-05, eta: 14:45:40, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0114, loss_waypoint: 0.2553, debug_std_frame_0: 0.2597, debug_std_frame_1: 0.2911, debug_std_frame_2: 0.3395, debug_std_frame_3: 0.3995, debug_std_frame_4: 0.4627, debug_std_frame_5: 0.5317, loss_rl: -0.2004, loss_critic: 1.1023, loss_rl_bc: 0.0166, il_score: 0.5800, rl_score: 0.6511, prev_frame_loss_waypoint_0: 0.2853, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.4904, grad_norm: 82.0939, il_score_sum: 59.9647, rl_score_sum: 60.3447, score_diff: -0.3800, il_win: 62.0000, rl_win: 52.6250
2025-09-24 04:44:07,376 - mmdet - INFO - Epoch [6][800/3517]	lr: 4.484e-05, eta: 14:45:24, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.2425, debug_std_frame_0: 0.2660, debug_std_frame_1: 0.2963, debug_std_frame_2: 0.3425, debug_std_frame_3: 0.3931, debug_std_frame_4: 0.4499, debug_std_frame_5: 0.5171, loss_rl: -0.2022, loss_critic: 1.3334, loss_rl_bc: 0.0234, il_score: 0.6254, rl_score: 0.6434, prev_frame_loss_waypoint_0: 0.2503, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.6854, grad_norm: 68.3097, il_score_sum: 59.9647, rl_score_sum: 60.3447, score_diff: -0.3800, il_win: 62.0000, rl_win: 52.6250
2025-09-24 04:44:23,590 - mmdet - INFO - Epoch [6][820/3517]	lr: 4.484e-05, eta: 14:45:08, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0114, loss_waypoint: 0.2344, debug_std_frame_0: 0.3024, debug_std_frame_1: 0.3368, debug_std_frame_2: 0.3877, debug_std_frame_3: 0.4376, debug_std_frame_4: 0.4980, debug_std_frame_5: 0.5635, loss_rl: -0.1906, loss_critic: 1.5036, loss_rl_bc: 0.0330, il_score: 0.6114, rl_score: 0.5818, prev_frame_loss_waypoint_0: 0.2619, prev_frame_loss_rl_bc_0: 0.0396, loss: 1.8934, grad_norm: 81.9468, il_score_sum: 59.9123, rl_score_sum: 60.5575, score_diff: -0.6452, il_win: 62.1111, rl_win: 52.8889
2025-09-24 04:44:39,663 - mmdet - INFO - Epoch [6][840/3517]	lr: 4.484e-05, eta: 14:44:52, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0113, loss_waypoint: 0.2423, debug_std_frame_0: 0.3368, debug_std_frame_1: 0.3667, debug_std_frame_2: 0.4118, debug_std_frame_3: 0.4593, debug_std_frame_4: 0.5194, debug_std_frame_5: 0.5745, loss_rl: -0.1814, loss_critic: 1.0851, loss_rl_bc: 0.0259, il_score: 0.5880, rl_score: 0.5897, prev_frame_loss_waypoint_0: 0.2475, prev_frame_loss_rl_bc_0: 0.0289, loss: 1.4596, grad_norm: 59.5916, il_score_sum: 59.9123, rl_score_sum: 60.5575, score_diff: -0.6452, il_win: 62.1111, rl_win: 52.8889
2025-09-24 04:44:55,763 - mmdet - INFO - Epoch [6][860/3517]	lr: 4.484e-05, eta: 14:44:36, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.2376, debug_std_frame_0: 0.3418, debug_std_frame_1: 0.3768, debug_std_frame_2: 0.4301, debug_std_frame_3: 0.4791, debug_std_frame_4: 0.5398, debug_std_frame_5: 0.5986, loss_rl: -0.1978, loss_critic: 1.4915, loss_rl_bc: 0.0288, il_score: 0.6077, rl_score: 0.6075, prev_frame_loss_waypoint_0: 0.2537, prev_frame_loss_rl_bc_0: 0.0261, loss: 1.8512, grad_norm: 67.4274, il_score_sum: 59.9123, rl_score_sum: 60.5575, score_diff: -0.6452, il_win: 62.1111, rl_win: 52.8889
2025-09-24 04:45:11,903 - mmdet - INFO - Epoch [6][880/3517]	lr: 4.484e-05, eta: 14:44:20, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.2532, debug_std_frame_0: 0.3006, debug_std_frame_1: 0.3320, debug_std_frame_2: 0.3861, debug_std_frame_3: 0.4378, debug_std_frame_4: 0.4998, debug_std_frame_5: 0.5685, loss_rl: -0.2333, loss_critic: 1.2536, loss_rl_bc: 0.0192, il_score: 0.6002, rl_score: 0.6411, prev_frame_loss_waypoint_0: 0.2690, prev_frame_loss_rl_bc_0: 0.0211, loss: 1.5948, grad_norm: 74.2123, il_score_sum: 59.9123, rl_score_sum: 60.5575, score_diff: -0.6452, il_win: 62.1111, rl_win: 52.8889
2025-09-24 04:45:27,887 - mmdet - INFO - Epoch [6][900/3517]	lr: 4.484e-05, eta: 14:44:04, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0108, loss_waypoint: 0.2184, debug_std_frame_0: 0.2802, debug_std_frame_1: 0.3111, debug_std_frame_2: 0.3630, debug_std_frame_3: 0.4149, debug_std_frame_4: 0.4730, debug_std_frame_5: 0.5397, loss_rl: -0.1387, loss_critic: 1.5334, loss_rl_bc: 0.0273, il_score: 0.5697, rl_score: 0.5425, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0273, loss: 1.9004, grad_norm: 71.5720, il_score_sum: 59.9123, rl_score_sum: 60.5575, score_diff: -0.6452, il_win: 62.1111, rl_win: 52.8889
2025-09-24 04:45:44,148 - mmdet - INFO - Epoch [6][920/3517]	lr: 4.484e-05, eta: 14:43:48, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.2520, debug_std_frame_0: 0.2948, debug_std_frame_1: 0.3272, debug_std_frame_2: 0.3801, debug_std_frame_3: 0.4297, debug_std_frame_4: 0.4895, debug_std_frame_5: 0.5549, loss_rl: -0.2029, loss_critic: 1.5237, loss_rl_bc: 0.0225, il_score: 0.5302, rl_score: 0.5887, prev_frame_loss_waypoint_0: 0.2605, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.8862, grad_norm: 83.6860, il_score_sum: 59.8119, rl_score_sum: 60.4801, score_diff: -0.6681, il_win: 62.2000, rl_win: 53.1000
2025-09-24 04:46:00,056 - mmdet - INFO - Epoch [6][940/3517]	lr: 4.484e-05, eta: 14:43:31, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.2919, debug_std_frame_0: 0.2913, debug_std_frame_1: 0.3284, debug_std_frame_2: 0.3873, debug_std_frame_3: 0.4444, debug_std_frame_4: 0.5085, debug_std_frame_5: 0.5765, loss_rl: -0.1696, loss_critic: 1.2492, loss_rl_bc: 0.0218, il_score: 0.5349, rl_score: 0.6174, prev_frame_loss_waypoint_0: 0.3314, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.7608, grad_norm: 92.0436, il_score_sum: 59.8119, rl_score_sum: 60.4801, score_diff: -0.6681, il_win: 62.2000, rl_win: 53.1000
2025-09-24 04:46:16,469 - mmdet - INFO - Epoch [6][960/3517]	lr: 4.484e-05, eta: 14:43:16, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2371, debug_std_frame_0: 0.2920, debug_std_frame_1: 0.3244, debug_std_frame_2: 0.3802, debug_std_frame_3: 0.4359, debug_std_frame_4: 0.4979, debug_std_frame_5: 0.5667, loss_rl: -0.1900, loss_critic: 1.3471, loss_rl_bc: 0.0294, il_score: 0.5877, rl_score: 0.5975, prev_frame_loss_waypoint_0: 0.2751, prev_frame_loss_rl_bc_0: 0.0352, loss: 1.7445, grad_norm: 62.9490, il_score_sum: 59.8119, rl_score_sum: 60.4801, score_diff: -0.6681, il_win: 62.2000, rl_win: 53.1000
2025-09-24 04:46:32,768 - mmdet - INFO - Epoch [6][980/3517]	lr: 4.484e-05, eta: 14:43:01, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.2321, debug_std_frame_0: 0.3148, debug_std_frame_1: 0.3494, debug_std_frame_2: 0.4023, debug_std_frame_3: 0.4562, debug_std_frame_4: 0.5128, debug_std_frame_5: 0.5796, loss_rl: -0.1890, loss_critic: 1.6633, loss_rl_bc: 0.0341, il_score: 0.5753, rl_score: 0.5630, prev_frame_loss_waypoint_0: 0.2646, prev_frame_loss_rl_bc_0: 0.0390, loss: 2.0554, grad_norm: 75.8249, il_score_sum: 59.8119, rl_score_sum: 60.4801, score_diff: -0.6681, il_win: 62.2000, rl_win: 53.1000
2025-09-24 04:46:48,808 - mmdet - INFO - Epoch [6][1000/3517]	lr: 4.484e-05, eta: 14:42:45, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.2402, debug_std_frame_0: 0.3612, debug_std_frame_1: 0.3916, debug_std_frame_2: 0.4389, debug_std_frame_3: 0.4883, debug_std_frame_4: 0.5458, debug_std_frame_5: 0.6049, loss_rl: -0.1749, loss_critic: 1.1266, loss_rl_bc: 0.0243, il_score: 0.5593, rl_score: 0.5849, prev_frame_loss_waypoint_0: 0.2456, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.5016, grad_norm: 61.2872, il_score_sum: 59.8119, rl_score_sum: 60.4801, score_diff: -0.6681, il_win: 62.2000, rl_win: 53.1000
2025-09-24 04:47:05,115 - mmdet - INFO - Epoch [6][1020/3517]	lr: 4.484e-05, eta: 14:42:29, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.2428, debug_std_frame_0: 0.3249, debug_std_frame_1: 0.3520, debug_std_frame_2: 0.3975, debug_std_frame_3: 0.4465, debug_std_frame_4: 0.4996, debug_std_frame_5: 0.5625, loss_rl: -0.2192, loss_critic: 1.3117, loss_rl_bc: 0.0238, il_score: 0.5951, rl_score: 0.6249, prev_frame_loss_waypoint_0: 0.2456, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.6402, grad_norm: 71.1739, il_score_sum: 59.5040, rl_score_sum: 60.3781, score_diff: -0.8741, il_win: 62.2727, rl_win: 53.3636
2025-09-24 04:47:21,476 - mmdet - INFO - Epoch [6][1040/3517]	lr: 4.484e-05, eta: 14:42:14, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.2757, debug_std_frame_0: 0.2948, debug_std_frame_1: 0.3317, debug_std_frame_2: 0.3918, debug_std_frame_3: 0.4532, debug_std_frame_4: 0.5125, debug_std_frame_5: 0.5782, loss_rl: -0.1450, loss_critic: 1.2687, loss_rl_bc: 0.0286, il_score: 0.5471, rl_score: 0.5620, prev_frame_loss_waypoint_0: 0.3054, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.7755, grad_norm: 89.5858, il_score_sum: 59.5040, rl_score_sum: 60.3781, score_diff: -0.8741, il_win: 62.2727, rl_win: 53.3636
2025-09-24 04:47:37,503 - mmdet - INFO - Epoch [6][1060/3517]	lr: 4.484e-05, eta: 14:41:58, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0123, loss_waypoint: 0.2688, debug_std_frame_0: 0.2930, debug_std_frame_1: 0.3291, debug_std_frame_2: 0.3854, debug_std_frame_3: 0.4441, debug_std_frame_4: 0.5086, debug_std_frame_5: 0.5743, loss_rl: -0.2353, loss_critic: 1.3705, loss_rl_bc: 0.0211, il_score: 0.5610, rl_score: 0.6088, prev_frame_loss_waypoint_0: 0.3007, prev_frame_loss_rl_bc_0: 0.0291, loss: 1.7672, grad_norm: 88.2303, il_score_sum: 59.5040, rl_score_sum: 60.3781, score_diff: -0.8741, il_win: 62.2727, rl_win: 53.3636
2025-09-24 04:47:53,635 - mmdet - INFO - Epoch [6][1080/3517]	lr: 4.484e-05, eta: 14:41:42, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.2404, debug_std_frame_0: 0.3012, debug_std_frame_1: 0.3389, debug_std_frame_2: 0.4037, debug_std_frame_3: 0.4713, debug_std_frame_4: 0.5380, debug_std_frame_5: 0.6069, loss_rl: -0.1950, loss_critic: 1.3457, loss_rl_bc: 0.0257, il_score: 0.5762, rl_score: 0.5862, prev_frame_loss_waypoint_0: 0.2528, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.7173, grad_norm: 61.9031, il_score_sum: 59.5040, rl_score_sum: 60.3781, score_diff: -0.8741, il_win: 62.2727, rl_win: 53.3636
2025-09-24 04:48:09,892 - mmdet - INFO - Epoch [6][1100/3517]	lr: 4.484e-05, eta: 14:41:26, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.2352, debug_std_frame_0: 0.2786, debug_std_frame_1: 0.3177, debug_std_frame_2: 0.3774, debug_std_frame_3: 0.4412, debug_std_frame_4: 0.5012, debug_std_frame_5: 0.5709, loss_rl: -0.1579, loss_critic: 1.0862, loss_rl_bc: 0.0187, il_score: 0.6129, rl_score: 0.6231, prev_frame_loss_waypoint_0: 0.2436, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.4579, grad_norm: 58.7410, il_score_sum: 59.5040, rl_score_sum: 60.3781, score_diff: -0.8741, il_win: 62.2727, rl_win: 53.3636
2025-09-24 04:48:26,463 - mmdet - INFO - Epoch [6][1120/3517]	lr: 4.484e-05, eta: 14:41:12, time: 0.829, data_time: 0.011, memory: 8550, loss_rec: 0.0106, loss_waypoint: 0.2318, debug_std_frame_0: 0.2553, debug_std_frame_1: 0.2948, debug_std_frame_2: 0.3543, debug_std_frame_3: 0.4225, debug_std_frame_4: 0.4880, debug_std_frame_5: 0.5602, loss_rl: -0.2515, loss_critic: 1.2129, loss_rl_bc: 0.0190, il_score: 0.6187, rl_score: 0.6375, prev_frame_loss_waypoint_0: 0.2518, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.4955, grad_norm: 65.2746, il_score_sum: 59.3930, rl_score_sum: 60.3633, score_diff: -0.9703, il_win: 62.3333, rl_win: 53.6667
2025-09-24 04:48:42,511 - mmdet - INFO - Epoch [6][1140/3517]	lr: 4.484e-05, eta: 14:40:56, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0104, loss_waypoint: 0.2063, debug_std_frame_0: 0.2434, debug_std_frame_1: 0.2796, debug_std_frame_2: 0.3335, debug_std_frame_3: 0.3975, debug_std_frame_4: 0.4560, debug_std_frame_5: 0.5248, loss_rl: -0.2226, loss_critic: 1.1824, loss_rl_bc: 0.0142, il_score: 0.6123, rl_score: 0.6358, prev_frame_loss_waypoint_0: 0.2232, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.4328, grad_norm: 66.4123, il_score_sum: 59.3930, rl_score_sum: 60.3633, score_diff: -0.9703, il_win: 62.3333, rl_win: 53.6667
2025-09-24 04:48:58,632 - mmdet - INFO - Epoch [6][1160/3517]	lr: 4.484e-05, eta: 14:40:40, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0109, loss_waypoint: 0.2361, debug_std_frame_0: 0.2365, debug_std_frame_1: 0.2760, debug_std_frame_2: 0.3281, debug_std_frame_3: 0.3944, debug_std_frame_4: 0.4557, debug_std_frame_5: 0.5317, loss_rl: -0.1598, loss_critic: 1.2790, loss_rl_bc: 0.0264, il_score: 0.6117, rl_score: 0.6134, prev_frame_loss_waypoint_0: 0.2476, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.6678, grad_norm: 67.6429, il_score_sum: 59.3930, rl_score_sum: 60.3633, score_diff: -0.9703, il_win: 62.3333, rl_win: 53.6667
2025-09-24 04:49:14,648 - mmdet - INFO - Epoch [6][1180/3517]	lr: 4.484e-05, eta: 14:40:23, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0112, loss_waypoint: 0.1839, debug_std_frame_0: 0.2678, debug_std_frame_1: 0.3081, debug_std_frame_2: 0.3551, debug_std_frame_3: 0.4141, debug_std_frame_4: 0.4665, debug_std_frame_5: 0.5382, loss_rl: -0.2332, loss_critic: 1.5175, loss_rl_bc: 0.0150, il_score: 0.6210, rl_score: 0.6348, prev_frame_loss_waypoint_0: 0.2074, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.7223, grad_norm: 52.5209, il_score_sum: 59.3930, rl_score_sum: 60.3633, score_diff: -0.9703, il_win: 62.3333, rl_win: 53.6667
2025-09-24 04:49:30,759 - mmdet - INFO - Epoch [6][1200/3517]	lr: 4.484e-05, eta: 14:40:07, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0110, loss_waypoint: 0.2215, debug_std_frame_0: 0.2637, debug_std_frame_1: 0.2989, debug_std_frame_2: 0.3413, debug_std_frame_3: 0.3950, debug_std_frame_4: 0.4437, debug_std_frame_5: 0.5103, loss_rl: -0.2095, loss_critic: 1.4820, loss_rl_bc: 0.0193, il_score: 0.5995, rl_score: 0.6135, prev_frame_loss_waypoint_0: 0.2376, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.7812, grad_norm: 83.6962, il_score_sum: 59.3930, rl_score_sum: 60.3633, score_diff: -0.9703, il_win: 62.3333, rl_win: 53.6667
2025-09-24 04:49:47,064 - mmdet - INFO - Epoch [6][1220/3517]	lr: 4.484e-05, eta: 14:39:52, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.2416, debug_std_frame_0: 0.2946, debug_std_frame_1: 0.3288, debug_std_frame_2: 0.3742, debug_std_frame_3: 0.4256, debug_std_frame_4: 0.4751, debug_std_frame_5: 0.5413, loss_rl: -0.1960, loss_critic: 1.5255, loss_rl_bc: 0.0372, il_score: 0.5556, rl_score: 0.5694, prev_frame_loss_waypoint_0: 0.2578, prev_frame_loss_rl_bc_0: 0.0362, loss: 1.9138, grad_norm: 73.4232, il_score_sum: 59.4416, rl_score_sum: 60.4427, score_diff: -1.0011, il_win: 62.3846, rl_win: 54.0000
2025-09-24 04:50:02,860 - mmdet - INFO - Epoch [6][1240/3517]	lr: 4.484e-05, eta: 14:39:35, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.2375, debug_std_frame_0: 0.3213, debug_std_frame_1: 0.3462, debug_std_frame_2: 0.3854, debug_std_frame_3: 0.4335, debug_std_frame_4: 0.4830, debug_std_frame_5: 0.5501, loss_rl: -0.2263, loss_critic: 1.4387, loss_rl_bc: 0.0244, il_score: 0.6161, rl_score: 0.6100, prev_frame_loss_waypoint_0: 0.2568, prev_frame_loss_rl_bc_0: 0.0243, loss: 1.7671, grad_norm: 69.0602, il_score_sum: 59.4416, rl_score_sum: 60.4427, score_diff: -1.0011, il_win: 62.3846, rl_win: 54.0000
2025-09-24 04:50:18,732 - mmdet - INFO - Epoch [6][1260/3517]	lr: 4.484e-05, eta: 14:39:18, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0120, loss_waypoint: 0.2558, debug_std_frame_0: 0.3076, debug_std_frame_1: 0.3396, debug_std_frame_2: 0.3867, debug_std_frame_3: 0.4439, debug_std_frame_4: 0.4999, debug_std_frame_5: 0.5722, loss_rl: -0.2145, loss_critic: 1.2804, loss_rl_bc: 0.0217, il_score: 0.5721, rl_score: 0.6424, prev_frame_loss_waypoint_0: 0.2797, prev_frame_loss_rl_bc_0: 0.0275, loss: 1.6626, grad_norm: 83.5324, il_score_sum: 59.4416, rl_score_sum: 60.4427, score_diff: -1.0011, il_win: 62.3846, rl_win: 54.0000
2025-09-24 04:50:34,841 - mmdet - INFO - Epoch [6][1280/3517]	lr: 4.484e-05, eta: 14:39:02, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.2303, debug_std_frame_0: 0.2910, debug_std_frame_1: 0.3251, debug_std_frame_2: 0.3765, debug_std_frame_3: 0.4359, debug_std_frame_4: 0.4917, debug_std_frame_5: 0.5637, loss_rl: -0.1992, loss_critic: 1.2483, loss_rl_bc: 0.0192, il_score: 0.5590, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2761, prev_frame_loss_rl_bc_0: 0.0358, loss: 1.6222, grad_norm: 64.2590, il_score_sum: 59.4416, rl_score_sum: 60.4427, score_diff: -1.0011, il_win: 62.3846, rl_win: 54.0000
2025-09-24 04:50:50,888 - mmdet - INFO - Epoch [6][1300/3517]	lr: 4.484e-05, eta: 14:38:46, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0116, loss_waypoint: 0.2109, debug_std_frame_0: 0.2655, debug_std_frame_1: 0.2985, debug_std_frame_2: 0.3516, debug_std_frame_3: 0.4189, debug_std_frame_4: 0.4771, debug_std_frame_5: 0.5475, loss_rl: -0.1565, loss_critic: 1.4787, loss_rl_bc: 0.0176, il_score: 0.5899, rl_score: 0.6105, prev_frame_loss_waypoint_0: 0.2263, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.8077, grad_norm: 66.1484, il_score_sum: 59.4416, rl_score_sum: 60.4427, score_diff: -1.0011, il_win: 62.3846, rl_win: 54.0000
2025-09-24 04:51:07,194 - mmdet - INFO - Epoch [6][1320/3517]	lr: 4.484e-05, eta: 14:38:30, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2366, debug_std_frame_0: 0.2426, debug_std_frame_1: 0.2826, debug_std_frame_2: 0.3447, debug_std_frame_3: 0.4194, debug_std_frame_4: 0.4823, debug_std_frame_5: 0.5520, loss_rl: -0.1779, loss_critic: 1.5739, loss_rl_bc: 0.0274, il_score: 0.5740, rl_score: 0.5838, prev_frame_loss_waypoint_0: 0.2636, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.9608, grad_norm: 65.4367, il_score_sum: 59.3614, rl_score_sum: 60.5032, score_diff: -1.1419, il_win: 62.4286, rl_win: 54.3571
2025-09-24 04:51:23,079 - mmdet - INFO - Epoch [6][1340/3517]	lr: 4.484e-05, eta: 14:38:13, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2660, debug_std_frame_0: 0.2755, debug_std_frame_1: 0.3225, debug_std_frame_2: 0.3852, debug_std_frame_3: 0.4563, debug_std_frame_4: 0.5151, debug_std_frame_5: 0.5825, loss_rl: -0.1498, loss_critic: 1.4435, loss_rl_bc: 0.0590, il_score: 0.5969, rl_score: 0.5602, prev_frame_loss_waypoint_0: 0.2641, prev_frame_loss_rl_bc_0: 0.0648, loss: 1.9604, grad_norm: 80.0499, il_score_sum: 59.3614, rl_score_sum: 60.5032, score_diff: -1.1419, il_win: 62.4286, rl_win: 54.3571
2025-09-24 04:51:39,189 - mmdet - INFO - Epoch [6][1360/3517]	lr: 4.484e-05, eta: 14:37:57, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2318, debug_std_frame_0: 0.3855, debug_std_frame_1: 0.4183, debug_std_frame_2: 0.4657, debug_std_frame_3: 0.5211, debug_std_frame_4: 0.5749, debug_std_frame_5: 0.6293, loss_rl: -0.1324, loss_critic: 1.6308, loss_rl_bc: 0.0488, il_score: 0.5552, rl_score: 0.4960, prev_frame_loss_waypoint_0: 0.2382, prev_frame_loss_rl_bc_0: 0.0530, loss: 2.0826, grad_norm: 81.1292, il_score_sum: 59.3614, rl_score_sum: 60.5032, score_diff: -1.1419, il_win: 62.4286, rl_win: 54.3571
2025-09-24 04:51:55,250 - mmdet - INFO - Epoch [6][1380/3517]	lr: 4.484e-05, eta: 14:37:41, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2316, debug_std_frame_0: 0.4169, debug_std_frame_1: 0.4338, debug_std_frame_2: 0.4643, debug_std_frame_3: 0.5036, debug_std_frame_4: 0.5487, debug_std_frame_5: 0.5992, loss_rl: -0.2265, loss_critic: 1.1499, loss_rl_bc: 0.0290, il_score: 0.6404, rl_score: 0.6314, prev_frame_loss_waypoint_0: 0.2352, prev_frame_loss_rl_bc_0: 0.0325, loss: 1.4650, grad_norm: 73.9738, il_score_sum: 59.3614, rl_score_sum: 60.5032, score_diff: -1.1419, il_win: 62.4286, rl_win: 54.3571
2025-09-24 04:52:11,234 - mmdet - INFO - Epoch [6][1400/3517]	lr: 4.484e-05, eta: 14:37:25, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2297, debug_std_frame_0: 0.4035, debug_std_frame_1: 0.4212, debug_std_frame_2: 0.4529, debug_std_frame_3: 0.4911, debug_std_frame_4: 0.5335, debug_std_frame_5: 0.5864, loss_rl: -0.2077, loss_critic: 1.2773, loss_rl_bc: 0.0266, il_score: 0.6151, rl_score: 0.6487, prev_frame_loss_waypoint_0: 0.2599, prev_frame_loss_rl_bc_0: 0.0328, loss: 1.6314, grad_norm: 70.8209, il_score_sum: 59.3614, rl_score_sum: 60.5032, score_diff: -1.1419, il_win: 62.4286, rl_win: 54.3571
2025-09-24 04:52:27,431 - mmdet - INFO - Epoch [6][1420/3517]	lr: 4.484e-05, eta: 14:37:09, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2280, debug_std_frame_0: 0.3603, debug_std_frame_1: 0.3856, debug_std_frame_2: 0.4290, debug_std_frame_3: 0.4808, debug_std_frame_4: 0.5358, debug_std_frame_5: 0.5960, loss_rl: -0.1960, loss_critic: 1.1429, loss_rl_bc: 0.0212, il_score: 0.5954, rl_score: 0.6174, prev_frame_loss_waypoint_0: 0.2699, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.5034, grad_norm: 84.5710, il_score_sum: 59.3925, rl_score_sum: 60.3956, score_diff: -1.0031, il_win: 62.4667, rl_win: 54.6667
2025-09-24 04:52:43,489 - mmdet - INFO - Epoch [6][1440/3517]	lr: 4.484e-05, eta: 14:36:53, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2364, debug_std_frame_0: 0.3182, debug_std_frame_1: 0.3478, debug_std_frame_2: 0.3915, debug_std_frame_3: 0.4418, debug_std_frame_4: 0.4903, debug_std_frame_5: 0.5497, loss_rl: -0.2264, loss_critic: 1.1294, loss_rl_bc: 0.0182, il_score: 0.6325, rl_score: 0.6634, prev_frame_loss_waypoint_0: 0.2466, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.4402, grad_norm: 65.6127, il_score_sum: 59.3925, rl_score_sum: 60.3956, score_diff: -1.0031, il_win: 62.4667, rl_win: 54.6667
2025-09-24 04:52:59,449 - mmdet - INFO - Epoch [6][1460/3517]	lr: 4.484e-05, eta: 14:36:36, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2577, debug_std_frame_0: 0.2771, debug_std_frame_1: 0.3089, debug_std_frame_2: 0.3547, debug_std_frame_3: 0.4085, debug_std_frame_4: 0.4591, debug_std_frame_5: 0.5233, loss_rl: -0.2373, loss_critic: 1.1874, loss_rl_bc: 0.0148, il_score: 0.5591, rl_score: 0.6463, prev_frame_loss_waypoint_0: 0.2871, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5446, grad_norm: 81.8133, il_score_sum: 59.3925, rl_score_sum: 60.3956, score_diff: -1.0031, il_win: 62.4667, rl_win: 54.6667
2025-09-24 04:53:15,189 - mmdet - INFO - Epoch [6][1480/3517]	lr: 4.484e-05, eta: 14:36:19, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0132, loss_waypoint: 0.2324, debug_std_frame_0: 0.2633, debug_std_frame_1: 0.2916, debug_std_frame_2: 0.3377, debug_std_frame_3: 0.3946, debug_std_frame_4: 0.4492, debug_std_frame_5: 0.5169, loss_rl: -0.1893, loss_critic: 1.5356, loss_rl_bc: 0.0210, il_score: 0.6033, rl_score: 0.6134, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.8642, grad_norm: 80.5909, il_score_sum: 59.3925, rl_score_sum: 60.3956, score_diff: -1.0031, il_win: 62.4667, rl_win: 54.6667
2025-09-24 04:53:31,114 - mmdet - INFO - Epoch [6][1500/3517]	lr: 4.484e-05, eta: 14:36:02, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.2942, debug_std_frame_0: 0.2682, debug_std_frame_1: 0.3022, debug_std_frame_2: 0.3540, debug_std_frame_3: 0.4121, debug_std_frame_4: 0.4666, debug_std_frame_5: 0.5301, loss_rl: -0.1824, loss_critic: 1.3208, loss_rl_bc: 0.0259, il_score: 0.5140, rl_score: 0.5964, prev_frame_loss_waypoint_0: 0.2904, prev_frame_loss_rl_bc_0: 0.0265, loss: 1.7880, grad_norm: 82.3156, il_score_sum: 59.3925, rl_score_sum: 60.3956, score_diff: -1.0031, il_win: 62.4667, rl_win: 54.6667
2025-09-24 04:53:47,377 - mmdet - INFO - Epoch [6][1520/3517]	lr: 4.484e-05, eta: 14:35:47, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.2139, debug_std_frame_0: 0.2755, debug_std_frame_1: 0.3107, debug_std_frame_2: 0.3638, debug_std_frame_3: 0.4211, debug_std_frame_4: 0.4781, debug_std_frame_5: 0.5404, loss_rl: -0.2245, loss_critic: 1.2356, loss_rl_bc: 0.0179, il_score: 0.6293, rl_score: 0.6155, prev_frame_loss_waypoint_0: 0.2367, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.5127, grad_norm: 56.7207, il_score_sum: 59.3499, rl_score_sum: 60.5371, score_diff: -1.1871, il_win: 62.5000, rl_win: 55.0000
2025-09-24 04:54:03,329 - mmdet - INFO - Epoch [6][1540/3517]	lr: 4.484e-05, eta: 14:35:30, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2069, debug_std_frame_0: 0.2718, debug_std_frame_1: 0.3109, debug_std_frame_2: 0.3692, debug_std_frame_3: 0.4317, debug_std_frame_4: 0.4901, debug_std_frame_5: 0.5568, loss_rl: -0.2145, loss_critic: 1.0813, loss_rl_bc: 0.0214, il_score: 0.6586, rl_score: 0.6335, prev_frame_loss_waypoint_0: 0.2355, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.3680, grad_norm: 51.8671, il_score_sum: 59.3499, rl_score_sum: 60.5371, score_diff: -1.1871, il_win: 62.5000, rl_win: 55.0000
2025-09-24 04:54:19,369 - mmdet - INFO - Epoch [6][1560/3517]	lr: 4.484e-05, eta: 14:35:14, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2250, debug_std_frame_0: 0.2779, debug_std_frame_1: 0.3168, debug_std_frame_2: 0.3684, debug_std_frame_3: 0.4308, debug_std_frame_4: 0.4897, debug_std_frame_5: 0.5508, loss_rl: -0.1784, loss_critic: 1.3726, loss_rl_bc: 0.0282, il_score: 0.6074, rl_score: 0.5947, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0315, loss: 1.7418, grad_norm: 84.7910, il_score_sum: 59.3499, rl_score_sum: 60.5371, score_diff: -1.1871, il_win: 62.5000, rl_win: 55.0000
2025-09-24 04:54:35,387 - mmdet - INFO - Epoch [6][1580/3517]	lr: 4.484e-05, eta: 14:34:58, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2217, debug_std_frame_0: 0.2834, debug_std_frame_1: 0.3251, debug_std_frame_2: 0.3773, debug_std_frame_3: 0.4376, debug_std_frame_4: 0.4939, debug_std_frame_5: 0.5509, loss_rl: -0.2094, loss_critic: 1.3171, loss_rl_bc: 0.0206, il_score: 0.6056, rl_score: 0.5952, prev_frame_loss_waypoint_0: 0.2350, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.6212, grad_norm: 63.5491, il_score_sum: 59.3499, rl_score_sum: 60.5371, score_diff: -1.1871, il_win: 62.5000, rl_win: 55.0000
2025-09-24 04:54:51,424 - mmdet - INFO - Epoch [6][1600/3517]	lr: 4.484e-05, eta: 14:34:41, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0115, loss_waypoint: 0.2334, debug_std_frame_0: 0.2766, debug_std_frame_1: 0.3142, debug_std_frame_2: 0.3646, debug_std_frame_3: 0.4272, debug_std_frame_4: 0.4879, debug_std_frame_5: 0.5460, loss_rl: -0.2074, loss_critic: 1.2887, loss_rl_bc: 0.0181, il_score: 0.5857, rl_score: 0.6279, prev_frame_loss_waypoint_0: 0.2559, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.6226, grad_norm: 68.5569, il_score_sum: 59.3499, rl_score_sum: 60.5371, score_diff: -1.1871, il_win: 62.5000, rl_win: 55.0000
2025-09-24 04:55:07,729 - mmdet - INFO - Epoch [6][1620/3517]	lr: 4.484e-05, eta: 14:34:26, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0120, loss_waypoint: 0.2283, debug_std_frame_0: 0.2688, debug_std_frame_1: 0.3017, debug_std_frame_2: 0.3542, debug_std_frame_3: 0.4166, debug_std_frame_4: 0.4802, debug_std_frame_5: 0.5432, loss_rl: -0.2242, loss_critic: 1.1705, loss_rl_bc: 0.0208, il_score: 0.6398, rl_score: 0.6519, prev_frame_loss_waypoint_0: 0.2439, prev_frame_loss_rl_bc_0: 0.0232, loss: 1.4746, grad_norm: 49.4195, il_score_sum: 59.4891, rl_score_sum: 60.6205, score_diff: -1.1314, il_win: 62.5294, rl_win: 55.2941
2025-09-24 04:55:23,476 - mmdet - INFO - Epoch [6][1640/3517]	lr: 4.484e-05, eta: 14:34:09, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.2440, debug_std_frame_0: 0.2580, debug_std_frame_1: 0.2956, debug_std_frame_2: 0.3528, debug_std_frame_3: 0.4163, debug_std_frame_4: 0.4825, debug_std_frame_5: 0.5518, loss_rl: -0.1891, loss_critic: 1.5235, loss_rl_bc: 0.0245, il_score: 0.5453, rl_score: 0.5625, prev_frame_loss_waypoint_0: 0.2541, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.8884, grad_norm: 70.7194, il_score_sum: 59.4891, rl_score_sum: 60.6205, score_diff: -1.1314, il_win: 62.5294, rl_win: 55.2941
2025-09-24 04:55:39,354 - mmdet - INFO - Epoch [6][1660/3517]	lr: 4.484e-05, eta: 14:33:52, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.2898, debug_std_frame_0: 0.2939, debug_std_frame_1: 0.3313, debug_std_frame_2: 0.3836, debug_std_frame_3: 0.4464, debug_std_frame_4: 0.5106, debug_std_frame_5: 0.5777, loss_rl: -0.1935, loss_critic: 1.4744, loss_rl_bc: 0.0252, il_score: 0.4793, rl_score: 0.5692, prev_frame_loss_waypoint_0: 0.3078, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.9509, grad_norm: 80.7012, il_score_sum: 59.4891, rl_score_sum: 60.6205, score_diff: -1.1314, il_win: 62.5294, rl_win: 55.2941
2025-09-24 04:55:55,441 - mmdet - INFO - Epoch [6][1680/3517]	lr: 4.484e-05, eta: 14:33:36, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.1959, debug_std_frame_0: 0.2829, debug_std_frame_1: 0.3195, debug_std_frame_2: 0.3696, debug_std_frame_3: 0.4289, debug_std_frame_4: 0.4945, debug_std_frame_5: 0.5629, loss_rl: -0.2119, loss_critic: 1.5158, loss_rl_bc: 0.0220, il_score: 0.6321, rl_score: 0.6100, prev_frame_loss_waypoint_0: 0.2079, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.7664, grad_norm: 58.6658, il_score_sum: 59.4891, rl_score_sum: 60.6205, score_diff: -1.1314, il_win: 62.5294, rl_win: 55.2941
2025-09-24 04:56:11,411 - mmdet - INFO - Epoch [6][1700/3517]	lr: 4.484e-05, eta: 14:33:19, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2101, debug_std_frame_0: 0.3021, debug_std_frame_1: 0.3376, debug_std_frame_2: 0.3842, debug_std_frame_3: 0.4385, debug_std_frame_4: 0.4996, debug_std_frame_5: 0.5635, loss_rl: -0.1671, loss_critic: 1.6063, loss_rl_bc: 0.0334, il_score: 0.6167, rl_score: 0.5770, prev_frame_loss_waypoint_0: 0.2275, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.9514, grad_norm: 67.2385, il_score_sum: 59.4891, rl_score_sum: 60.6205, score_diff: -1.1314, il_win: 62.5294, rl_win: 55.2941
2025-09-24 04:56:27,510 - mmdet - INFO - Epoch [6][1720/3517]	lr: 4.484e-05, eta: 14:33:03, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2141, debug_std_frame_0: 0.3280, debug_std_frame_1: 0.3600, debug_std_frame_2: 0.4042, debug_std_frame_3: 0.4581, debug_std_frame_4: 0.5214, debug_std_frame_5: 0.5857, loss_rl: -0.1977, loss_critic: 1.3690, loss_rl_bc: 0.0229, il_score: 0.6276, rl_score: 0.5906, prev_frame_loss_waypoint_0: 0.2380, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.6837, grad_norm: 72.7910, il_score_sum: 59.4297, rl_score_sum: 60.5091, score_diff: -1.0794, il_win: 62.5556, rl_win: 55.5556
2025-09-24 04:56:43,258 - mmdet - INFO - Epoch [6][1740/3517]	lr: 4.484e-05, eta: 14:32:46, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.2505, debug_std_frame_0: 0.3193, debug_std_frame_1: 0.3573, debug_std_frame_2: 0.4078, debug_std_frame_3: 0.4704, debug_std_frame_4: 0.5388, debug_std_frame_5: 0.6022, loss_rl: -0.1687, loss_critic: 1.5067, loss_rl_bc: 0.0287, il_score: 0.5468, rl_score: 0.5645, prev_frame_loss_waypoint_0: 0.2375, prev_frame_loss_rl_bc_0: 0.0259, loss: 1.8932, grad_norm: 73.1302, il_score_sum: 59.4297, rl_score_sum: 60.5091, score_diff: -1.0794, il_win: 62.5556, rl_win: 55.5556
2025-09-24 04:56:59,338 - mmdet - INFO - Epoch [6][1760/3517]	lr: 4.484e-05, eta: 14:32:30, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2230, debug_std_frame_0: 0.3035, debug_std_frame_1: 0.3364, debug_std_frame_2: 0.3819, debug_std_frame_3: 0.4438, debug_std_frame_4: 0.5057, debug_std_frame_5: 0.5704, loss_rl: -0.2205, loss_critic: 1.4762, loss_rl_bc: 0.0260, il_score: 0.6372, rl_score: 0.6193, prev_frame_loss_waypoint_0: 0.2127, prev_frame_loss_rl_bc_0: 0.0259, loss: 1.7553, grad_norm: 64.3414, il_score_sum: 59.4297, rl_score_sum: 60.5091, score_diff: -1.0794, il_win: 62.5556, rl_win: 55.5556
2025-09-24 04:57:15,334 - mmdet - INFO - Epoch [6][1780/3517]	lr: 4.484e-05, eta: 14:32:13, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2120, debug_std_frame_0: 0.2946, debug_std_frame_1: 0.3287, debug_std_frame_2: 0.3784, debug_std_frame_3: 0.4410, debug_std_frame_4: 0.5009, debug_std_frame_5: 0.5686, loss_rl: -0.1645, loss_critic: 1.2523, loss_rl_bc: 0.0240, il_score: 0.6100, rl_score: 0.5783, prev_frame_loss_waypoint_0: 0.2305, prev_frame_loss_rl_bc_0: 0.0265, loss: 1.5931, grad_norm: 60.6606, il_score_sum: 59.4297, rl_score_sum: 60.5091, score_diff: -1.0794, il_win: 62.5556, rl_win: 55.5556
2025-09-24 04:57:31,024 - mmdet - INFO - Epoch [6][1800/3517]	lr: 4.484e-05, eta: 14:31:56, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2364, debug_std_frame_0: 0.2925, debug_std_frame_1: 0.3252, debug_std_frame_2: 0.3754, debug_std_frame_3: 0.4363, debug_std_frame_4: 0.4968, debug_std_frame_5: 0.5696, loss_rl: -0.1961, loss_critic: 0.9453, loss_rl_bc: 0.0202, il_score: 0.5863, rl_score: 0.6272, prev_frame_loss_waypoint_0: 0.2414, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.2817, grad_norm: 73.7252, il_score_sum: 59.4297, rl_score_sum: 60.5091, score_diff: -1.0794, il_win: 62.5556, rl_win: 55.5556
2025-09-24 04:57:47,158 - mmdet - INFO - Epoch [6][1820/3517]	lr: 4.484e-05, eta: 14:31:40, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2476, debug_std_frame_0: 0.3263, debug_std_frame_1: 0.3563, debug_std_frame_2: 0.4023, debug_std_frame_3: 0.4584, debug_std_frame_4: 0.5139, debug_std_frame_5: 0.5761, loss_rl: -0.1378, loss_critic: 1.5840, loss_rl_bc: 0.0436, il_score: 0.5697, rl_score: 0.5312, prev_frame_loss_waypoint_0: 0.2915, prev_frame_loss_rl_bc_0: 0.0477, loss: 2.0896, grad_norm: 97.2469, il_score_sum: 59.4213, rl_score_sum: 60.4153, score_diff: -0.9940, il_win: 62.5789, rl_win: 55.7895
2025-09-24 04:58:03,192 - mmdet - INFO - Epoch [6][1840/3517]	lr: 4.484e-05, eta: 14:31:24, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2474, debug_std_frame_0: 0.3459, debug_std_frame_1: 0.3732, debug_std_frame_2: 0.4194, debug_std_frame_3: 0.4699, debug_std_frame_4: 0.5297, debug_std_frame_5: 0.5896, loss_rl: -0.2064, loss_critic: 1.2731, loss_rl_bc: 0.0256, il_score: 0.5887, rl_score: 0.6017, prev_frame_loss_waypoint_0: 0.2729, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.6526, grad_norm: 69.1919, il_score_sum: 59.4213, rl_score_sum: 60.4153, score_diff: -0.9940, il_win: 62.5789, rl_win: 55.7895
2025-09-24 04:58:19,207 - mmdet - INFO - Epoch [6][1860/3517]	lr: 4.484e-05, eta: 14:31:07, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0123, loss_waypoint: 0.2623, debug_std_frame_0: 0.3544, debug_std_frame_1: 0.3756, debug_std_frame_2: 0.4154, debug_std_frame_3: 0.4630, debug_std_frame_4: 0.5131, debug_std_frame_5: 0.5652, loss_rl: -0.2594, loss_critic: 1.6307, loss_rl_bc: 0.0641, il_score: 0.5793, rl_score: 0.6317, prev_frame_loss_waypoint_0: 0.2870, prev_frame_loss_rl_bc_0: 0.0614, loss: 2.0584, grad_norm: 93.5857, il_score_sum: 59.4213, rl_score_sum: 60.4153, score_diff: -0.9940, il_win: 62.5789, rl_win: 55.7895
2025-09-24 04:58:35,081 - mmdet - INFO - Epoch [6][1880/3517]	lr: 4.484e-05, eta: 14:30:50, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2418, debug_std_frame_0: 0.3107, debug_std_frame_1: 0.3360, debug_std_frame_2: 0.3846, debug_std_frame_3: 0.4496, debug_std_frame_4: 0.5301, debug_std_frame_5: 0.5910, loss_rl: -0.1497, loss_critic: 1.1348, loss_rl_bc: 0.0220, il_score: 0.5659, rl_score: 0.5817, prev_frame_loss_waypoint_0: 0.2389, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.5221, grad_norm: 55.9948, il_score_sum: 59.4213, rl_score_sum: 60.4153, score_diff: -0.9940, il_win: 62.5789, rl_win: 55.7895
2025-09-24 04:58:50,838 - mmdet - INFO - Epoch [6][1900/3517]	lr: 4.484e-05, eta: 14:30:33, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0134, loss_waypoint: 0.2152, debug_std_frame_0: 0.2810, debug_std_frame_1: 0.3038, debug_std_frame_2: 0.3478, debug_std_frame_3: 0.4131, debug_std_frame_4: 0.4918, debug_std_frame_5: 0.5585, loss_rl: -0.1938, loss_critic: 1.3541, loss_rl_bc: 0.0178, il_score: 0.5819, rl_score: 0.6036, prev_frame_loss_waypoint_0: 0.2149, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.6368, grad_norm: 66.6116, il_score_sum: 59.4213, rl_score_sum: 60.4153, score_diff: -0.9940, il_win: 62.5789, rl_win: 55.7895
2025-09-24 04:59:07,135 - mmdet - INFO - Epoch [6][1920/3517]	lr: 4.484e-05, eta: 14:30:18, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0123, loss_waypoint: 0.2088, debug_std_frame_0: 0.2686, debug_std_frame_1: 0.2923, debug_std_frame_2: 0.3343, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4527, debug_std_frame_5: 0.5121, loss_rl: -0.1742, loss_critic: 1.1773, loss_rl_bc: 0.0184, il_score: 0.5810, rl_score: 0.6091, prev_frame_loss_waypoint_0: 0.2451, prev_frame_loss_rl_bc_0: 0.0238, loss: 1.5115, grad_norm: 78.3744, il_score_sum: 59.3450, rl_score_sum: 60.3926, score_diff: -1.0476, il_win: 62.6000, rl_win: 56.0500
2025-09-24 04:59:23,041 - mmdet - INFO - Epoch [6][1940/3517]	lr: 4.484e-05, eta: 14:30:01, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.2545, debug_std_frame_0: 0.2751, debug_std_frame_1: 0.2965, debug_std_frame_2: 0.3381, debug_std_frame_3: 0.3904, debug_std_frame_4: 0.4491, debug_std_frame_5: 0.5099, loss_rl: -0.2451, loss_critic: 1.3704, loss_rl_bc: 0.0185, il_score: 0.5565, rl_score: 0.6469, prev_frame_loss_waypoint_0: 0.2766, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.7061, grad_norm: 97.1115, il_score_sum: 59.3450, rl_score_sum: 60.3926, score_diff: -1.0476, il_win: 62.6000, rl_win: 56.0500
2025-09-24 04:59:38,780 - mmdet - INFO - Epoch [6][1960/3517]	lr: 4.484e-05, eta: 14:29:44, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.2288, debug_std_frame_0: 0.2709, debug_std_frame_1: 0.2980, debug_std_frame_2: 0.3476, debug_std_frame_3: 0.4039, debug_std_frame_4: 0.4652, debug_std_frame_5: 0.5264, loss_rl: -0.1995, loss_critic: 1.3640, loss_rl_bc: 0.0201, il_score: 0.5473, rl_score: 0.6039, prev_frame_loss_waypoint_0: 0.2463, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.6927, grad_norm: 59.3927, il_score_sum: 59.3450, rl_score_sum: 60.3926, score_diff: -1.0476, il_win: 62.6000, rl_win: 56.0500
2025-09-24 04:59:54,726 - mmdet - INFO - Epoch [6][1980/3517]	lr: 4.484e-05, eta: 14:29:27, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.2303, debug_std_frame_0: 0.2682, debug_std_frame_1: 0.2926, debug_std_frame_2: 0.3414, debug_std_frame_3: 0.3986, debug_std_frame_4: 0.4599, debug_std_frame_5: 0.5234, loss_rl: -0.2225, loss_critic: 1.2367, loss_rl_bc: 0.0188, il_score: 0.6009, rl_score: 0.6185, prev_frame_loss_waypoint_0: 0.2547, prev_frame_loss_rl_bc_0: 0.0229, loss: 1.5537, grad_norm: 70.7350, il_score_sum: 59.3450, rl_score_sum: 60.3926, score_diff: -1.0476, il_win: 62.6000, rl_win: 56.0500
2025-09-24 05:00:10,715 - mmdet - INFO - Epoch [6][2000/3517]	lr: 4.484e-05, eta: 14:29:11, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2197, debug_std_frame_0: 0.2800, debug_std_frame_1: 0.3050, debug_std_frame_2: 0.3516, debug_std_frame_3: 0.4100, debug_std_frame_4: 0.4689, debug_std_frame_5: 0.5309, loss_rl: -0.2237, loss_critic: 1.1725, loss_rl_bc: 0.0158, il_score: 0.6254, rl_score: 0.6587, prev_frame_loss_waypoint_0: 0.2309, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.4431, grad_norm: 67.8268, il_score_sum: 59.3450, rl_score_sum: 60.3926, score_diff: -1.0476, il_win: 62.6000, rl_win: 56.0500
2025-09-24 05:00:26,987 - mmdet - INFO - Epoch [6][2020/3517]	lr: 4.484e-05, eta: 14:28:55, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2054, debug_std_frame_0: 0.2608, debug_std_frame_1: 0.2841, debug_std_frame_2: 0.3319, debug_std_frame_3: 0.3904, debug_std_frame_4: 0.4471, debug_std_frame_5: 0.5143, loss_rl: -0.2450, loss_critic: 1.2398, loss_rl_bc: 0.0157, il_score: 0.6028, rl_score: 0.6357, prev_frame_loss_waypoint_0: 0.2250, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.4687, grad_norm: 76.5793, il_score_sum: 59.2322, rl_score_sum: 60.4482, score_diff: -1.2161, il_win: 62.7000, rl_win: 56.6000
2025-09-24 05:00:42,693 - mmdet - INFO - Epoch [6][2040/3517]	lr: 4.484e-05, eta: 14:28:38, time: 0.785, data_time: 0.011, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2547, debug_std_frame_0: 0.2826, debug_std_frame_1: 0.3077, debug_std_frame_2: 0.3578, debug_std_frame_3: 0.4170, debug_std_frame_4: 0.4732, debug_std_frame_5: 0.5369, loss_rl: -0.1788, loss_critic: 1.4378, loss_rl_bc: 0.0384, il_score: 0.5798, rl_score: 0.6077, prev_frame_loss_waypoint_0: 0.2781, prev_frame_loss_rl_bc_0: 0.0407, loss: 1.8841, grad_norm: 91.2345, il_score_sum: 59.2322, rl_score_sum: 60.4482, score_diff: -1.2161, il_win: 62.7000, rl_win: 56.6000
2025-09-24 05:00:58,591 - mmdet - INFO - Epoch [6][2060/3517]	lr: 4.484e-05, eta: 14:28:21, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.2139, debug_std_frame_0: 0.3102, debug_std_frame_1: 0.3385, debug_std_frame_2: 0.3942, debug_std_frame_3: 0.4557, debug_std_frame_4: 0.5159, debug_std_frame_5: 0.5755, loss_rl: -0.2139, loss_critic: 1.3931, loss_rl_bc: 0.0193, il_score: 0.6054, rl_score: 0.6189, prev_frame_loss_waypoint_0: 0.2230, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.6680, grad_norm: 61.3080, il_score_sum: 59.2322, rl_score_sum: 60.4482, score_diff: -1.2161, il_win: 62.7000, rl_win: 56.6000
2025-09-24 05:01:14,465 - mmdet - INFO - Epoch [6][2080/3517]	lr: 4.484e-05, eta: 14:28:05, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2206, debug_std_frame_0: 0.2895, debug_std_frame_1: 0.3180, debug_std_frame_2: 0.3699, debug_std_frame_3: 0.4265, debug_std_frame_4: 0.4813, debug_std_frame_5: 0.5433, loss_rl: -0.2436, loss_critic: 1.4602, loss_rl_bc: 0.0196, il_score: 0.5828, rl_score: 0.6199, prev_frame_loss_waypoint_0: 0.2312, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.7217, grad_norm: 72.1067, il_score_sum: 59.2322, rl_score_sum: 60.4482, score_diff: -1.2161, il_win: 62.7000, rl_win: 56.6000
2025-09-24 05:01:30,287 - mmdet - INFO - Epoch [6][2100/3517]	lr: 4.484e-05, eta: 14:27:48, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0123, loss_waypoint: 0.2882, debug_std_frame_0: 0.3005, debug_std_frame_1: 0.3258, debug_std_frame_2: 0.3747, debug_std_frame_3: 0.4305, debug_std_frame_4: 0.4846, debug_std_frame_5: 0.5477, loss_rl: -0.1983, loss_critic: 1.2230, loss_rl_bc: 0.0267, il_score: 0.5626, rl_score: 0.6065, prev_frame_loss_waypoint_0: 0.2922, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.6711, grad_norm: 82.6590, il_score_sum: 59.2322, rl_score_sum: 60.4482, score_diff: -1.2161, il_win: 62.7000, rl_win: 56.6000
2025-09-24 05:01:46,366 - mmdet - INFO - Epoch [6][2120/3517]	lr: 4.484e-05, eta: 14:27:31, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2547, debug_std_frame_0: 0.2987, debug_std_frame_1: 0.3228, debug_std_frame_2: 0.3727, debug_std_frame_3: 0.4294, debug_std_frame_4: 0.4820, debug_std_frame_5: 0.5443, loss_rl: -0.2126, loss_critic: 1.5999, loss_rl_bc: 0.0324, il_score: 0.5339, rl_score: 0.5888, prev_frame_loss_waypoint_0: 0.2451, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.9553, grad_norm: 66.5149, il_score_sum: 59.0436, rl_score_sum: 60.5787, score_diff: -1.5350, il_win: 62.7500, rl_win: 57.2000
2025-09-24 05:02:02,157 - mmdet - INFO - Epoch [6][2140/3517]	lr: 4.484e-05, eta: 14:27:14, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2219, debug_std_frame_0: 0.3016, debug_std_frame_1: 0.3277, debug_std_frame_2: 0.3784, debug_std_frame_3: 0.4376, debug_std_frame_4: 0.4918, debug_std_frame_5: 0.5552, loss_rl: -0.1694, loss_critic: 1.4837, loss_rl_bc: 0.0179, il_score: 0.5955, rl_score: 0.6216, prev_frame_loss_waypoint_0: 0.2366, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.8223, grad_norm: 73.4232, il_score_sum: 59.0436, rl_score_sum: 60.5787, score_diff: -1.5350, il_win: 62.7500, rl_win: 57.2000
2025-09-24 05:02:18,149 - mmdet - INFO - Epoch [6][2160/3517]	lr: 4.484e-05, eta: 14:26:58, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2319, debug_std_frame_0: 0.2802, debug_std_frame_1: 0.3010, debug_std_frame_2: 0.3525, debug_std_frame_3: 0.4131, debug_std_frame_4: 0.4665, debug_std_frame_5: 0.5293, loss_rl: -0.1646, loss_critic: 1.2190, loss_rl_bc: 0.0226, il_score: 0.6068, rl_score: 0.6138, prev_frame_loss_waypoint_0: 0.2666, prev_frame_loss_rl_bc_0: 0.0342, loss: 1.6226, grad_norm: 68.7189, il_score_sum: 59.0436, rl_score_sum: 60.5787, score_diff: -1.5350, il_win: 62.7500, rl_win: 57.2000
2025-09-24 05:02:33,993 - mmdet - INFO - Epoch [6][2180/3517]	lr: 4.484e-05, eta: 14:26:41, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2071, debug_std_frame_0: 0.3007, debug_std_frame_1: 0.3246, debug_std_frame_2: 0.3704, debug_std_frame_3: 0.4266, debug_std_frame_4: 0.4764, debug_std_frame_5: 0.5345, loss_rl: -0.2341, loss_critic: 1.3357, loss_rl_bc: 0.0167, il_score: 0.6219, rl_score: 0.6272, prev_frame_loss_waypoint_0: 0.2227, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.5816, grad_norm: 59.3874, il_score_sum: 59.0436, rl_score_sum: 60.5787, score_diff: -1.5350, il_win: 62.7500, rl_win: 57.2000
2025-09-24 05:02:50,011 - mmdet - INFO - Epoch [6][2200/3517]	lr: 4.484e-05, eta: 14:26:25, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2517, debug_std_frame_0: 0.2866, debug_std_frame_1: 0.3108, debug_std_frame_2: 0.3607, debug_std_frame_3: 0.4183, debug_std_frame_4: 0.4699, debug_std_frame_5: 0.5279, loss_rl: -0.2092, loss_critic: 1.2381, loss_rl_bc: 0.0160, il_score: 0.5465, rl_score: 0.6116, prev_frame_loss_waypoint_0: 0.2727, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.6036, grad_norm: 78.2737, il_score_sum: 59.0436, rl_score_sum: 60.5787, score_diff: -1.5350, il_win: 62.7500, rl_win: 57.2000
2025-09-24 05:03:06,058 - mmdet - INFO - Epoch [6][2220/3517]	lr: 4.484e-05, eta: 14:26:08, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.2070, debug_std_frame_0: 0.2628, debug_std_frame_1: 0.2865, debug_std_frame_2: 0.3343, debug_std_frame_3: 0.3909, debug_std_frame_4: 0.4402, debug_std_frame_5: 0.4984, loss_rl: -0.2135, loss_critic: 1.4619, loss_rl_bc: 0.0161, il_score: 0.6188, rl_score: 0.6363, prev_frame_loss_waypoint_0: 0.2301, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.7361, grad_norm: 53.1012, il_score_sum: 59.1258, rl_score_sum: 60.7350, score_diff: -1.6093, il_win: 62.8000, rl_win: 57.8000
2025-09-24 05:03:21,950 - mmdet - INFO - Epoch [6][2240/3517]	lr: 4.484e-05, eta: 14:25:52, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0147, loss_waypoint: 0.2156, debug_std_frame_0: 0.2589, debug_std_frame_1: 0.2860, debug_std_frame_2: 0.3351, debug_std_frame_3: 0.3952, debug_std_frame_4: 0.4456, debug_std_frame_5: 0.5082, loss_rl: -0.2284, loss_critic: 1.0919, loss_rl_bc: 0.0154, il_score: 0.6368, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.2545, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.3930, grad_norm: 64.7625, il_score_sum: 59.1258, rl_score_sum: 60.7350, score_diff: -1.6093, il_win: 62.8000, rl_win: 57.8000
2025-09-24 05:03:37,768 - mmdet - INFO - Epoch [6][2260/3517]	lr: 4.484e-05, eta: 14:25:35, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2073, debug_std_frame_0: 0.2813, debug_std_frame_1: 0.3123, debug_std_frame_2: 0.3641, debug_std_frame_3: 0.4236, debug_std_frame_4: 0.4765, debug_std_frame_5: 0.5359, loss_rl: -0.1572, loss_critic: 1.3547, loss_rl_bc: 0.0291, il_score: 0.6368, rl_score: 0.5826, prev_frame_loss_waypoint_0: 0.2187, prev_frame_loss_rl_bc_0: 0.0318, loss: 1.6982, grad_norm: 50.1236, il_score_sum: 59.1258, rl_score_sum: 60.7350, score_diff: -1.6093, il_win: 62.8000, rl_win: 57.8000
2025-09-24 05:03:53,638 - mmdet - INFO - Epoch [6][2280/3517]	lr: 4.484e-05, eta: 14:25:18, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0147, loss_waypoint: 0.2140, debug_std_frame_0: 0.3204, debug_std_frame_1: 0.3507, debug_std_frame_2: 0.3983, debug_std_frame_3: 0.4475, debug_std_frame_4: 0.5011, debug_std_frame_5: 0.5554, loss_rl: -0.1861, loss_critic: 1.5623, loss_rl_bc: 0.0282, il_score: 0.6225, rl_score: 0.6026, prev_frame_loss_waypoint_0: 0.2254, prev_frame_loss_rl_bc_0: 0.0331, loss: 1.8917, grad_norm: 64.3319, il_score_sum: 59.1258, rl_score_sum: 60.7350, score_diff: -1.6093, il_win: 62.8000, rl_win: 57.8000
2025-09-24 05:04:09,378 - mmdet - INFO - Epoch [6][2300/3517]	lr: 4.484e-05, eta: 14:25:01, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0148, loss_waypoint: 0.2696, debug_std_frame_0: 0.3477, debug_std_frame_1: 0.3746, debug_std_frame_2: 0.4221, debug_std_frame_3: 0.4674, debug_std_frame_4: 0.5211, debug_std_frame_5: 0.5718, loss_rl: -0.2168, loss_critic: 1.7640, loss_rl_bc: 0.0283, il_score: 0.5443, rl_score: 0.5808, prev_frame_loss_waypoint_0: 0.2918, prev_frame_loss_rl_bc_0: 0.0302, loss: 2.1818, grad_norm: 97.1759, il_score_sum: 59.1258, rl_score_sum: 60.7350, score_diff: -1.6093, il_win: 62.8000, rl_win: 57.8000
2025-09-24 05:04:25,700 - mmdet - INFO - Epoch [6][2320/3517]	lr: 4.484e-05, eta: 14:24:45, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.2232, debug_std_frame_0: 0.3341, debug_std_frame_1: 0.3649, debug_std_frame_2: 0.4147, debug_std_frame_3: 0.4626, debug_std_frame_4: 0.5192, debug_std_frame_5: 0.5738, loss_rl: -0.1753, loss_critic: 1.2239, loss_rl_bc: 0.0274, il_score: 0.6179, rl_score: 0.6105, prev_frame_loss_waypoint_0: 0.2256, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.5633, grad_norm: 73.2055, il_score_sum: 59.2208, rl_score_sum: 60.7833, score_diff: -1.5624, il_win: 62.8500, rl_win: 58.4000
2025-09-24 05:04:41,477 - mmdet - INFO - Epoch [6][2340/3517]	lr: 4.484e-05, eta: 14:24:28, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2732, debug_std_frame_0: 0.3457, debug_std_frame_1: 0.3783, debug_std_frame_2: 0.4325, debug_std_frame_3: 0.4876, debug_std_frame_4: 0.5473, debug_std_frame_5: 0.6090, loss_rl: -0.1341, loss_critic: 1.2236, loss_rl_bc: 0.0371, il_score: 0.5534, rl_score: 0.5321, prev_frame_loss_waypoint_0: 0.2867, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.7383, grad_norm: 74.2225, il_score_sum: 59.2208, rl_score_sum: 60.7833, score_diff: -1.5624, il_win: 62.8500, rl_win: 58.4000
2025-09-24 05:04:57,280 - mmdet - INFO - Epoch [6][2360/3517]	lr: 4.484e-05, eta: 14:24:11, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.1852, debug_std_frame_0: 0.3441, debug_std_frame_1: 0.3734, debug_std_frame_2: 0.4201, debug_std_frame_3: 0.4664, debug_std_frame_4: 0.5209, debug_std_frame_5: 0.5803, loss_rl: -0.2048, loss_critic: 1.3231, loss_rl_bc: 0.0266, il_score: 0.6159, rl_score: 0.5926, prev_frame_loss_waypoint_0: 0.2348, prev_frame_loss_rl_bc_0: 0.0309, loss: 1.6094, grad_norm: 60.3833, il_score_sum: 59.2208, rl_score_sum: 60.7833, score_diff: -1.5624, il_win: 62.8500, rl_win: 58.4000
2025-09-24 05:05:13,193 - mmdet - INFO - Epoch [6][2380/3517]	lr: 4.484e-05, eta: 14:23:55, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2289, debug_std_frame_0: 0.3484, debug_std_frame_1: 0.3756, debug_std_frame_2: 0.4194, debug_std_frame_3: 0.4651, debug_std_frame_4: 0.5215, debug_std_frame_5: 0.5817, loss_rl: -0.2294, loss_critic: 1.3695, loss_rl_bc: 0.0247, il_score: 0.6131, rl_score: 0.6261, prev_frame_loss_waypoint_0: 0.2365, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.6656, grad_norm: 67.6607, il_score_sum: 59.2208, rl_score_sum: 60.7833, score_diff: -1.5624, il_win: 62.8500, rl_win: 58.4000
2025-09-24 05:05:29,130 - mmdet - INFO - Epoch [6][2400/3517]	lr: 4.484e-05, eta: 14:23:38, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.1876, debug_std_frame_0: 0.2866, debug_std_frame_1: 0.3172, debug_std_frame_2: 0.3667, debug_std_frame_3: 0.4211, debug_std_frame_4: 0.4858, debug_std_frame_5: 0.5493, loss_rl: -0.2419, loss_critic: 1.7561, loss_rl_bc: 0.0132, il_score: 0.6231, rl_score: 0.6047, prev_frame_loss_waypoint_0: 0.1912, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.9301, grad_norm: 52.5770, il_score_sum: 59.2208, rl_score_sum: 60.7833, score_diff: -1.5624, il_win: 62.8500, rl_win: 58.4000
2025-09-24 05:05:45,411 - mmdet - INFO - Epoch [6][2420/3517]	lr: 4.484e-05, eta: 14:23:23, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2474, debug_std_frame_0: 0.2668, debug_std_frame_1: 0.2957, debug_std_frame_2: 0.3415, debug_std_frame_3: 0.3962, debug_std_frame_4: 0.4547, debug_std_frame_5: 0.5161, loss_rl: -0.2226, loss_critic: 1.4122, loss_rl_bc: 0.0318, il_score: 0.6110, rl_score: 0.6147, prev_frame_loss_waypoint_0: 0.2419, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.7506, grad_norm: 79.5907, il_score_sum: 59.2811, rl_score_sum: 60.6922, score_diff: -1.4111, il_win: 62.9000, rl_win: 58.9500
2025-09-24 05:06:01,355 - mmdet - INFO - Epoch [6][2440/3517]	lr: 4.484e-05, eta: 14:23:06, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.1976, debug_std_frame_0: 0.3072, debug_std_frame_1: 0.3376, debug_std_frame_2: 0.3848, debug_std_frame_3: 0.4383, debug_std_frame_4: 0.4965, debug_std_frame_5: 0.5558, loss_rl: -0.1575, loss_critic: 1.3842, loss_rl_bc: 0.0269, il_score: 0.6335, rl_score: 0.5892, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0343, loss: 1.7276, grad_norm: 54.3473, il_score_sum: 59.2811, rl_score_sum: 60.6922, score_diff: -1.4111, il_win: 62.9000, rl_win: 58.9500
2025-09-24 05:06:17,284 - mmdet - INFO - Epoch [6][2460/3517]	lr: 4.484e-05, eta: 14:22:50, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2473, debug_std_frame_0: 0.3090, debug_std_frame_1: 0.3426, debug_std_frame_2: 0.3936, debug_std_frame_3: 0.4530, debug_std_frame_4: 0.5176, debug_std_frame_5: 0.5797, loss_rl: -0.2371, loss_critic: 1.4434, loss_rl_bc: 0.0221, il_score: 0.6229, rl_score: 0.6358, prev_frame_loss_waypoint_0: 0.2632, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.7713, grad_norm: 81.4088, il_score_sum: 59.2811, rl_score_sum: 60.6922, score_diff: -1.4111, il_win: 62.9000, rl_win: 58.9500
2025-09-24 05:06:33,360 - mmdet - INFO - Epoch [6][2480/3517]	lr: 4.484e-05, eta: 14:22:33, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.2096, debug_std_frame_0: 0.2819, debug_std_frame_1: 0.3137, debug_std_frame_2: 0.3654, debug_std_frame_3: 0.4238, debug_std_frame_4: 0.4867, debug_std_frame_5: 0.5500, loss_rl: -0.2166, loss_critic: 1.2978, loss_rl_bc: 0.0150, il_score: 0.5815, rl_score: 0.6249, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.5679, grad_norm: 72.5187, il_score_sum: 59.2811, rl_score_sum: 60.6922, score_diff: -1.4111, il_win: 62.9000, rl_win: 58.9500
2025-09-24 05:06:49,206 - mmdet - INFO - Epoch [6][2500/3517]	lr: 4.484e-05, eta: 14:22:17, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.2753, debug_std_frame_0: 0.2604, debug_std_frame_1: 0.2923, debug_std_frame_2: 0.3450, debug_std_frame_3: 0.4003, debug_std_frame_4: 0.4614, debug_std_frame_5: 0.5251, loss_rl: -0.2047, loss_critic: 1.3304, loss_rl_bc: 0.0233, il_score: 0.5585, rl_score: 0.6191, prev_frame_loss_waypoint_0: 0.3048, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.7642, grad_norm: 89.6141, il_score_sum: 59.2811, rl_score_sum: 60.6922, score_diff: -1.4111, il_win: 62.9000, rl_win: 58.9500
2025-09-24 05:07:05,309 - mmdet - INFO - Epoch [6][2520/3517]	lr: 4.484e-05, eta: 14:22:00, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2003, debug_std_frame_0: 0.2509, debug_std_frame_1: 0.2841, debug_std_frame_2: 0.3400, debug_std_frame_3: 0.3966, debug_std_frame_4: 0.4613, debug_std_frame_5: 0.5285, loss_rl: -0.2441, loss_critic: 1.3917, loss_rl_bc: 0.0179, il_score: 0.6226, rl_score: 0.6381, prev_frame_loss_waypoint_0: 0.2133, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.6077, grad_norm: 52.3153, il_score_sum: 59.3219, rl_score_sum: 60.6620, score_diff: -1.3401, il_win: 62.9500, rl_win: 59.5000
2025-09-24 05:07:21,224 - mmdet - INFO - Epoch [6][2540/3517]	lr: 4.484e-05, eta: 14:21:44, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2662, debug_std_frame_0: 0.2670, debug_std_frame_1: 0.2997, debug_std_frame_2: 0.3513, debug_std_frame_3: 0.4077, debug_std_frame_4: 0.4688, debug_std_frame_5: 0.5334, loss_rl: -0.1698, loss_critic: 1.4918, loss_rl_bc: 0.0421, il_score: 0.5757, rl_score: 0.5670, prev_frame_loss_waypoint_0: 0.2601, prev_frame_loss_rl_bc_0: 0.0354, loss: 1.9388, grad_norm: 82.7771, il_score_sum: 59.3219, rl_score_sum: 60.6620, score_diff: -1.3401, il_win: 62.9500, rl_win: 59.5000
2025-09-24 05:07:37,211 - mmdet - INFO - Epoch [6][2560/3517]	lr: 4.484e-05, eta: 14:21:27, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.2353, debug_std_frame_0: 0.3347, debug_std_frame_1: 0.3722, debug_std_frame_2: 0.4270, debug_std_frame_3: 0.4847, debug_std_frame_4: 0.5550, debug_std_frame_5: 0.6151, loss_rl: -0.1139, loss_critic: 1.2690, loss_rl_bc: 0.0334, il_score: 0.5601, rl_score: 0.5403, prev_frame_loss_waypoint_0: 0.2540, prev_frame_loss_rl_bc_0: 0.0363, loss: 1.7268, grad_norm: 79.5187, il_score_sum: 59.3219, rl_score_sum: 60.6620, score_diff: -1.3401, il_win: 62.9500, rl_win: 59.5000
2025-09-24 05:07:53,157 - mmdet - INFO - Epoch [6][2580/3517]	lr: 4.484e-05, eta: 14:21:11, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2252, debug_std_frame_0: 0.3607, debug_std_frame_1: 0.3912, debug_std_frame_2: 0.4344, debug_std_frame_3: 0.4763, debug_std_frame_4: 0.5371, debug_std_frame_5: 0.5912, loss_rl: -0.2108, loss_critic: 1.4378, loss_rl_bc: 0.0383, il_score: 0.5800, rl_score: 0.5705, prev_frame_loss_waypoint_0: 0.2433, prev_frame_loss_rl_bc_0: 0.0374, loss: 1.7843, grad_norm: 73.0101, il_score_sum: 59.3219, rl_score_sum: 60.6620, score_diff: -1.3401, il_win: 62.9500, rl_win: 59.5000
2025-09-24 05:08:08,997 - mmdet - INFO - Epoch [6][2600/3517]	lr: 4.484e-05, eta: 14:20:54, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2514, debug_std_frame_0: 0.3780, debug_std_frame_1: 0.4073, debug_std_frame_2: 0.4498, debug_std_frame_3: 0.4924, debug_std_frame_4: 0.5537, debug_std_frame_5: 0.6057, loss_rl: -0.1421, loss_critic: 1.1048, loss_rl_bc: 0.0358, il_score: 0.5637, rl_score: 0.5556, prev_frame_loss_waypoint_0: 0.2639, prev_frame_loss_rl_bc_0: 0.0426, loss: 1.5687, grad_norm: 99.5018, il_score_sum: 59.3219, rl_score_sum: 60.6620, score_diff: -1.3401, il_win: 62.9500, rl_win: 59.5000
2025-09-24 05:08:25,115 - mmdet - INFO - Epoch [6][2620/3517]	lr: 4.484e-05, eta: 14:20:38, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.2325, debug_std_frame_0: 0.3817, debug_std_frame_1: 0.4174, debug_std_frame_2: 0.4655, debug_std_frame_3: 0.5116, debug_std_frame_4: 0.5757, debug_std_frame_5: 0.6246, loss_rl: -0.2605, loss_critic: 1.2601, loss_rl_bc: 0.0240, il_score: 0.6113, rl_score: 0.6296, prev_frame_loss_waypoint_0: 0.2515, prev_frame_loss_rl_bc_0: 0.0309, loss: 1.5517, grad_norm: 69.5023, il_score_sum: 59.1140, rl_score_sum: 60.4277, score_diff: -1.3137, il_win: 63.0000, rl_win: 60.0500
2025-09-24 05:08:41,238 - mmdet - INFO - Epoch [6][2640/3517]	lr: 4.484e-05, eta: 14:20:22, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.2180, debug_std_frame_0: 0.3623, debug_std_frame_1: 0.3964, debug_std_frame_2: 0.4442, debug_std_frame_3: 0.4912, debug_std_frame_4: 0.5573, debug_std_frame_5: 0.6051, loss_rl: -0.2512, loss_critic: 1.4626, loss_rl_bc: 0.0195, il_score: 0.6039, rl_score: 0.6374, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0240, loss: 1.7355, grad_norm: 76.7566, il_score_sum: 59.1140, rl_score_sum: 60.4277, score_diff: -1.3137, il_win: 63.0000, rl_win: 60.0500
2025-09-24 05:08:57,181 - mmdet - INFO - Epoch [6][2660/3517]	lr: 4.484e-05, eta: 14:20:06, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.2230, debug_std_frame_0: 0.3182, debug_std_frame_1: 0.3531, debug_std_frame_2: 0.4050, debug_std_frame_3: 0.4562, debug_std_frame_4: 0.5185, debug_std_frame_5: 0.5725, loss_rl: -0.2481, loss_critic: 1.3084, loss_rl_bc: 0.0198, il_score: 0.5948, rl_score: 0.6326, prev_frame_loss_waypoint_0: 0.2529, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.5968, grad_norm: 78.5224, il_score_sum: 59.1140, rl_score_sum: 60.4277, score_diff: -1.3137, il_win: 63.0000, rl_win: 60.0500
2025-09-24 05:09:12,998 - mmdet - INFO - Epoch [6][2680/3517]	lr: 4.484e-05, eta: 14:19:49, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2614, debug_std_frame_0: 0.2724, debug_std_frame_1: 0.3109, debug_std_frame_2: 0.3717, debug_std_frame_3: 0.4330, debug_std_frame_4: 0.5044, debug_std_frame_5: 0.5686, loss_rl: -0.1910, loss_critic: 1.2515, loss_rl_bc: 0.0189, il_score: 0.5620, rl_score: 0.6165, prev_frame_loss_waypoint_0: 0.2685, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.6438, grad_norm: 79.1948, il_score_sum: 59.1140, rl_score_sum: 60.4277, score_diff: -1.3137, il_win: 63.0000, rl_win: 60.0500
2025-09-24 05:09:28,678 - mmdet - INFO - Epoch [6][2700/3517]	lr: 4.484e-05, eta: 14:19:31, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2294, debug_std_frame_0: 0.2662, debug_std_frame_1: 0.3009, debug_std_frame_2: 0.3587, debug_std_frame_3: 0.4212, debug_std_frame_4: 0.4902, debug_std_frame_5: 0.5574, loss_rl: -0.2010, loss_critic: 1.3853, loss_rl_bc: 0.0169, il_score: 0.5849, rl_score: 0.6336, prev_frame_loss_waypoint_0: 0.2642, prev_frame_loss_rl_bc_0: 0.0245, loss: 1.7320, grad_norm: 64.0922, il_score_sum: 59.1140, rl_score_sum: 60.4277, score_diff: -1.3137, il_win: 63.0000, rl_win: 60.0500
2025-09-24 05:09:44,903 - mmdet - INFO - Epoch [6][2720/3517]	lr: 4.484e-05, eta: 14:19:16, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.2466, debug_std_frame_0: 0.2698, debug_std_frame_1: 0.3008, debug_std_frame_2: 0.3502, debug_std_frame_3: 0.4053, debug_std_frame_4: 0.4682, debug_std_frame_5: 0.5309, loss_rl: -0.1902, loss_critic: 1.3195, loss_rl_bc: 0.0303, il_score: 0.6308, rl_score: 0.5969, prev_frame_loss_waypoint_0: 0.2731, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.7246, grad_norm: 91.2704, il_score_sum: 59.0974, rl_score_sum: 60.6695, score_diff: -1.5721, il_win: 63.0000, rl_win: 60.6500
2025-09-24 05:10:00,783 - mmdet - INFO - Epoch [6][2740/3517]	lr: 4.484e-05, eta: 14:18:59, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.2519, debug_std_frame_0: 0.2905, debug_std_frame_1: 0.3244, debug_std_frame_2: 0.3736, debug_std_frame_3: 0.4229, debug_std_frame_4: 0.4800, debug_std_frame_5: 0.5373, loss_rl: -0.2222, loss_critic: 1.7056, loss_rl_bc: 0.0259, il_score: 0.5856, rl_score: 0.6108, prev_frame_loss_waypoint_0: 0.2606, prev_frame_loss_rl_bc_0: 0.0306, loss: 2.0665, grad_norm: 82.7881, il_score_sum: 59.0974, rl_score_sum: 60.6695, score_diff: -1.5721, il_win: 63.0000, rl_win: 60.6500
2025-09-24 05:10:16,520 - mmdet - INFO - Epoch [6][2760/3517]	lr: 4.484e-05, eta: 14:18:42, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0150, loss_waypoint: 0.2670, debug_std_frame_0: 0.3002, debug_std_frame_1: 0.3357, debug_std_frame_2: 0.3873, debug_std_frame_3: 0.4417, debug_std_frame_4: 0.5056, debug_std_frame_5: 0.5697, loss_rl: -0.1919, loss_critic: 0.9872, loss_rl_bc: 0.0279, il_score: 0.5926, rl_score: 0.6090, prev_frame_loss_waypoint_0: 0.2653, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.3975, grad_norm: 81.8166, il_score_sum: 59.0974, rl_score_sum: 60.6695, score_diff: -1.5721, il_win: 63.0000, rl_win: 60.6500
2025-09-24 05:10:32,328 - mmdet - INFO - Epoch [6][2780/3517]	lr: 4.484e-05, eta: 14:18:25, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.1901, debug_std_frame_0: 0.2904, debug_std_frame_1: 0.3244, debug_std_frame_2: 0.3757, debug_std_frame_3: 0.4328, debug_std_frame_4: 0.4999, debug_std_frame_5: 0.5653, loss_rl: -0.2158, loss_critic: 1.4982, loss_rl_bc: 0.0218, il_score: 0.6115, rl_score: 0.6168, prev_frame_loss_waypoint_0: 0.1922, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.7228, grad_norm: 57.7400, il_score_sum: 59.0974, rl_score_sum: 60.6695, score_diff: -1.5721, il_win: 63.0000, rl_win: 60.6500
2025-09-24 05:10:48,099 - mmdet - INFO - Epoch [6][2800/3517]	lr: 4.484e-05, eta: 14:18:08, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.2261, debug_std_frame_0: 0.2954, debug_std_frame_1: 0.3273, debug_std_frame_2: 0.3684, debug_std_frame_3: 0.4193, debug_std_frame_4: 0.4782, debug_std_frame_5: 0.5437, loss_rl: -0.2842, loss_critic: 1.3942, loss_rl_bc: 0.0160, il_score: 0.5922, rl_score: 0.6599, prev_frame_loss_waypoint_0: 0.2419, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.6220, grad_norm: 79.6795, il_score_sum: 59.0974, rl_score_sum: 60.6695, score_diff: -1.5721, il_win: 63.0000, rl_win: 60.6500
2025-09-24 05:11:04,336 - mmdet - INFO - Epoch [6][2820/3517]	lr: 4.484e-05, eta: 14:17:52, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.2371, debug_std_frame_0: 0.2721, debug_std_frame_1: 0.3049, debug_std_frame_2: 0.3469, debug_std_frame_3: 0.4020, debug_std_frame_4: 0.4643, debug_std_frame_5: 0.5306, loss_rl: -0.2361, loss_critic: 1.3224, loss_rl_bc: 0.0206, il_score: 0.5832, rl_score: 0.6460, prev_frame_loss_waypoint_0: 0.2276, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.6026, grad_norm: 64.6007, il_score_sum: 59.0681, rl_score_sum: 60.6797, score_diff: -1.6116, il_win: 63.0000, rl_win: 61.2500
2025-09-24 05:11:20,012 - mmdet - INFO - Epoch [6][2840/3517]	lr: 4.484e-05, eta: 14:17:35, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2097, debug_std_frame_0: 0.2539, debug_std_frame_1: 0.2820, debug_std_frame_2: 0.3215, debug_std_frame_3: 0.3700, debug_std_frame_4: 0.4222, debug_std_frame_5: 0.4863, loss_rl: -0.2168, loss_critic: 1.3456, loss_rl_bc: 0.0201, il_score: 0.6311, rl_score: 0.6386, prev_frame_loss_waypoint_0: 0.2127, prev_frame_loss_rl_bc_0: 0.0173, loss: 1.6023, grad_norm: 64.1191, il_score_sum: 59.0681, rl_score_sum: 60.6797, score_diff: -1.6116, il_win: 63.0000, rl_win: 61.2500
2025-09-24 05:11:35,766 - mmdet - INFO - Epoch [6][2860/3517]	lr: 4.484e-05, eta: 14:17:18, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2068, debug_std_frame_0: 0.2662, debug_std_frame_1: 0.3017, debug_std_frame_2: 0.3529, debug_std_frame_3: 0.4080, debug_std_frame_4: 0.4731, debug_std_frame_5: 0.5448, loss_rl: -0.2296, loss_critic: 1.5036, loss_rl_bc: 0.0193, il_score: 0.6180, rl_score: 0.6303, prev_frame_loss_waypoint_0: 0.2515, prev_frame_loss_rl_bc_0: 0.0285, loss: 1.7937, grad_norm: 67.8383, il_score_sum: 59.0681, rl_score_sum: 60.6797, score_diff: -1.6116, il_win: 63.0000, rl_win: 61.2500
2025-09-24 05:11:51,692 - mmdet - INFO - Epoch [6][2880/3517]	lr: 4.484e-05, eta: 14:17:01, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2555, debug_std_frame_0: 0.2683, debug_std_frame_1: 0.3023, debug_std_frame_2: 0.3525, debug_std_frame_3: 0.4036, debug_std_frame_4: 0.4693, debug_std_frame_5: 0.5377, loss_rl: -0.1756, loss_critic: 1.2744, loss_rl_bc: 0.0260, il_score: 0.5689, rl_score: 0.6038, prev_frame_loss_waypoint_0: 0.2796, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.6995, grad_norm: 81.3473, il_score_sum: 59.0681, rl_score_sum: 60.6797, score_diff: -1.6116, il_win: 63.0000, rl_win: 61.2500
2025-09-24 05:12:07,528 - mmdet - INFO - Epoch [6][2900/3517]	lr: 4.484e-05, eta: 14:16:44, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2542, debug_std_frame_0: 0.3045, debug_std_frame_1: 0.3449, debug_std_frame_2: 0.4003, debug_std_frame_3: 0.4489, debug_std_frame_4: 0.5127, debug_std_frame_5: 0.5776, loss_rl: -0.0833, loss_critic: 1.3036, loss_rl_bc: 0.0479, il_score: 0.5746, rl_score: 0.5372, prev_frame_loss_waypoint_0: 0.2814, prev_frame_loss_rl_bc_0: 0.0588, loss: 1.8762, grad_norm: 84.9735, il_score_sum: 59.0681, rl_score_sum: 60.6797, score_diff: -1.6116, il_win: 63.0000, rl_win: 61.2500
2025-09-24 05:12:23,524 - mmdet - INFO - Epoch [6][2920/3517]	lr: 4.484e-05, eta: 14:16:28, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2079, debug_std_frame_0: 0.3689, debug_std_frame_1: 0.4088, debug_std_frame_2: 0.4567, debug_std_frame_3: 0.4987, debug_std_frame_4: 0.5605, debug_std_frame_5: 0.6135, loss_rl: -0.1365, loss_critic: 1.4369, loss_rl_bc: 0.0418, il_score: 0.6239, rl_score: 0.5358, prev_frame_loss_waypoint_0: 0.2073, prev_frame_loss_rl_bc_0: 0.0433, loss: 1.8147, grad_norm: 62.6632, il_score_sum: 59.1380, rl_score_sum: 60.6479, score_diff: -1.5098, il_win: 63.0500, rl_win: 61.8500
2025-09-24 05:12:39,250 - mmdet - INFO - Epoch [6][2940/3517]	lr: 4.484e-05, eta: 14:16:11, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2215, debug_std_frame_0: 0.4049, debug_std_frame_1: 0.4365, debug_std_frame_2: 0.4784, debug_std_frame_3: 0.5175, debug_std_frame_4: 0.5727, debug_std_frame_5: 0.6202, loss_rl: -0.2002, loss_critic: 1.3202, loss_rl_bc: 0.0283, il_score: 0.5967, rl_score: 0.5828, prev_frame_loss_waypoint_0: 0.2350, prev_frame_loss_rl_bc_0: 0.0295, loss: 1.6469, grad_norm: 58.1096, il_score_sum: 59.1380, rl_score_sum: 60.6479, score_diff: -1.5098, il_win: 63.0500, rl_win: 61.8500
2025-09-24 05:12:55,172 - mmdet - INFO - Epoch [6][2960/3517]	lr: 4.484e-05, eta: 14:15:54, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2341, debug_std_frame_0: 0.3604, debug_std_frame_1: 0.3950, debug_std_frame_2: 0.4371, debug_std_frame_3: 0.4745, debug_std_frame_4: 0.5300, debug_std_frame_5: 0.5775, loss_rl: -0.2274, loss_critic: 1.4731, loss_rl_bc: 0.0310, il_score: 0.5846, rl_score: 0.5638, prev_frame_loss_waypoint_0: 0.2384, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.7884, grad_norm: 62.6226, il_score_sum: 59.1380, rl_score_sum: 60.6479, score_diff: -1.5098, il_win: 63.0500, rl_win: 61.8500
2025-09-24 05:13:11,187 - mmdet - INFO - Epoch [6][2980/3517]	lr: 4.484e-05, eta: 14:15:38, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2064, debug_std_frame_0: 0.3437, debug_std_frame_1: 0.3790, debug_std_frame_2: 0.4260, debug_std_frame_3: 0.4654, debug_std_frame_4: 0.5236, debug_std_frame_5: 0.5746, loss_rl: -0.1742, loss_critic: 1.2003, loss_rl_bc: 0.0216, il_score: 0.6194, rl_score: 0.6121, prev_frame_loss_waypoint_0: 0.2372, prev_frame_loss_rl_bc_0: 0.0247, loss: 1.5289, grad_norm: 57.4724, il_score_sum: 59.1380, rl_score_sum: 60.6479, score_diff: -1.5098, il_win: 63.0500, rl_win: 61.8500
2025-09-24 05:13:27,074 - mmdet - INFO - Epoch [6][3000/3517]	lr: 4.484e-05, eta: 14:15:21, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0132, loss_waypoint: 0.2114, debug_std_frame_0: 0.3011, debug_std_frame_1: 0.3385, debug_std_frame_2: 0.3876, debug_std_frame_3: 0.4314, debug_std_frame_4: 0.4892, debug_std_frame_5: 0.5397, loss_rl: -0.2280, loss_critic: 1.2248, loss_rl_bc: 0.0218, il_score: 0.6303, rl_score: 0.6178, prev_frame_loss_waypoint_0: 0.2243, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.4911, grad_norm: 57.7348, il_score_sum: 59.1380, rl_score_sum: 60.6479, score_diff: -1.5098, il_win: 63.0500, rl_win: 61.8500
2025-09-24 05:13:43,130 - mmdet - INFO - Epoch [6][3020/3517]	lr: 4.484e-05, eta: 14:15:05, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2287, debug_std_frame_0: 0.2855, debug_std_frame_1: 0.3275, debug_std_frame_2: 0.3918, debug_std_frame_3: 0.4432, debug_std_frame_4: 0.5115, debug_std_frame_5: 0.5659, loss_rl: -0.1879, loss_critic: 1.3160, loss_rl_bc: 0.0231, il_score: 0.5884, rl_score: 0.5762, prev_frame_loss_waypoint_0: 0.2322, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.6482, grad_norm: 49.3093, il_score_sum: 59.3496, rl_score_sum: 60.6375, score_diff: -1.2879, il_win: 63.1500, rl_win: 62.4000
2025-09-24 05:13:58,965 - mmdet - INFO - Epoch [6][3040/3517]	lr: 4.484e-05, eta: 14:14:48, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2104, debug_std_frame_0: 0.2521, debug_std_frame_1: 0.2899, debug_std_frame_2: 0.3448, debug_std_frame_3: 0.3928, debug_std_frame_4: 0.4549, debug_std_frame_5: 0.5166, loss_rl: -0.2479, loss_critic: 1.2911, loss_rl_bc: 0.0172, il_score: 0.6270, rl_score: 0.6501, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.5185, grad_norm: 47.2823, il_score_sum: 59.3496, rl_score_sum: 60.6375, score_diff: -1.2879, il_win: 63.1500, rl_win: 62.4000
2025-09-24 05:14:14,970 - mmdet - INFO - Epoch [6][3060/3517]	lr: 4.484e-05, eta: 14:14:32, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.2267, debug_std_frame_0: 0.2633, debug_std_frame_1: 0.3028, debug_std_frame_2: 0.3597, debug_std_frame_3: 0.4155, debug_std_frame_4: 0.4895, debug_std_frame_5: 0.5533, loss_rl: -0.1793, loss_critic: 1.2498, loss_rl_bc: 0.0219, il_score: 0.5972, rl_score: 0.5988, prev_frame_loss_waypoint_0: 0.2424, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.6016, grad_norm: 67.0706, il_score_sum: 59.3496, rl_score_sum: 60.6375, score_diff: -1.2879, il_win: 63.1500, rl_win: 62.4000
2025-09-24 05:14:30,823 - mmdet - INFO - Epoch [6][3080/3517]	lr: 4.484e-05, eta: 14:14:15, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.2319, debug_std_frame_0: 0.2945, debug_std_frame_1: 0.3297, debug_std_frame_2: 0.3842, debug_std_frame_3: 0.4372, debug_std_frame_4: 0.4992, debug_std_frame_5: 0.5585, loss_rl: -0.1786, loss_critic: 1.3082, loss_rl_bc: 0.0225, il_score: 0.5945, rl_score: 0.6189, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.6689, grad_norm: 84.9782, il_score_sum: 59.3496, rl_score_sum: 60.6375, score_diff: -1.2879, il_win: 63.1500, rl_win: 62.4000
2025-09-24 05:14:46,744 - mmdet - INFO - Epoch [6][3100/3517]	lr: 4.484e-05, eta: 14:13:58, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2753, debug_std_frame_0: 0.2830, debug_std_frame_1: 0.3213, debug_std_frame_2: 0.3725, debug_std_frame_3: 0.4259, debug_std_frame_4: 0.4915, debug_std_frame_5: 0.5537, loss_rl: -0.1910, loss_critic: 1.5151, loss_rl_bc: 0.0297, il_score: 0.5456, rl_score: 0.6103, prev_frame_loss_waypoint_0: 0.2967, prev_frame_loss_rl_bc_0: 0.0304, loss: 1.9683, grad_norm: 72.6997, il_score_sum: 59.3496, rl_score_sum: 60.6375, score_diff: -1.2879, il_win: 63.1500, rl_win: 62.4000
2025-09-24 05:15:02,743 - mmdet - INFO - Epoch [6][3120/3517]	lr: 4.484e-05, eta: 14:13:42, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.1968, debug_std_frame_0: 0.2991, debug_std_frame_1: 0.3304, debug_std_frame_2: 0.3731, debug_std_frame_3: 0.4210, debug_std_frame_4: 0.4804, debug_std_frame_5: 0.5381, loss_rl: -0.2050, loss_critic: 1.1931, loss_rl_bc: 0.0150, il_score: 0.6091, rl_score: 0.6542, prev_frame_loss_waypoint_0: 0.2171, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.4443, grad_norm: 63.9920, il_score_sum: 59.4089, rl_score_sum: 60.7559, score_diff: -1.3470, il_win: 63.2500, rl_win: 62.9500
2025-09-24 05:15:18,621 - mmdet - INFO - Epoch [6][3140/3517]	lr: 4.484e-05, eta: 14:13:25, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.1966, debug_std_frame_0: 0.2703, debug_std_frame_1: 0.3000, debug_std_frame_2: 0.3419, debug_std_frame_3: 0.3919, debug_std_frame_4: 0.4471, debug_std_frame_5: 0.5013, loss_rl: -0.2389, loss_critic: 1.2364, loss_rl_bc: 0.0172, il_score: 0.6307, rl_score: 0.6281, prev_frame_loss_waypoint_0: 0.2187, prev_frame_loss_rl_bc_0: 0.0173, loss: 1.4603, grad_norm: 52.8296, il_score_sum: 59.4089, rl_score_sum: 60.7559, score_diff: -1.3470, il_win: 63.2500, rl_win: 62.9500
2025-09-24 05:15:34,458 - mmdet - INFO - Epoch [6][3160/3517]	lr: 4.484e-05, eta: 14:13:08, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.2092, debug_std_frame_0: 0.2642, debug_std_frame_1: 0.3060, debug_std_frame_2: 0.3626, debug_std_frame_3: 0.4260, debug_std_frame_4: 0.4937, debug_std_frame_5: 0.5564, loss_rl: -0.1747, loss_critic: 1.5026, loss_rl_bc: 0.0267, il_score: 0.6177, rl_score: 0.5960, prev_frame_loss_waypoint_0: 0.2275, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.8294, grad_norm: 45.5429, il_score_sum: 59.4089, rl_score_sum: 60.7559, score_diff: -1.3470, il_win: 63.2500, rl_win: 62.9500
2025-09-24 05:15:50,422 - mmdet - INFO - Epoch [6][3180/3517]	lr: 4.484e-05, eta: 14:12:52, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2550, debug_std_frame_0: 0.2730, debug_std_frame_1: 0.3099, debug_std_frame_2: 0.3582, debug_std_frame_3: 0.4095, debug_std_frame_4: 0.4700, debug_std_frame_5: 0.5243, loss_rl: -0.2536, loss_critic: 1.2823, loss_rl_bc: 0.0134, il_score: 0.5969, rl_score: 0.6639, prev_frame_loss_waypoint_0: 0.2601, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.5885, grad_norm: 110.9572, il_score_sum: 59.4089, rl_score_sum: 60.7559, score_diff: -1.3470, il_win: 63.2500, rl_win: 62.9500
2025-09-24 05:16:06,366 - mmdet - INFO - Epoch [6][3200/3517]	lr: 4.484e-05, eta: 14:12:36, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.1915, debug_std_frame_0: 0.2604, debug_std_frame_1: 0.3010, debug_std_frame_2: 0.3547, debug_std_frame_3: 0.4126, debug_std_frame_4: 0.4790, debug_std_frame_5: 0.5399, loss_rl: -0.1974, loss_critic: 1.3113, loss_rl_bc: 0.0158, il_score: 0.6380, rl_score: 0.6308, prev_frame_loss_waypoint_0: 0.2132, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.5668, grad_norm: 59.8374, il_score_sum: 59.4089, rl_score_sum: 60.7559, score_diff: -1.3470, il_win: 63.2500, rl_win: 62.9500
2025-09-24 05:16:22,493 - mmdet - INFO - Epoch [6][3220/3517]	lr: 4.484e-05, eta: 14:12:20, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0117, loss_waypoint: 0.2240, debug_std_frame_0: 0.2705, debug_std_frame_1: 0.3051, debug_std_frame_2: 0.3552, debug_std_frame_3: 0.4116, debug_std_frame_4: 0.4768, debug_std_frame_5: 0.5345, loss_rl: -0.1322, loss_critic: 1.6199, loss_rl_bc: 0.0426, il_score: 0.6400, rl_score: 0.5557, prev_frame_loss_waypoint_0: 0.2303, prev_frame_loss_rl_bc_0: 0.0455, loss: 2.0417, grad_norm: 84.6473, il_score_sum: 59.5423, rl_score_sum: 60.7920, score_diff: -1.2497, il_win: 63.3500, rl_win: 63.4500
2025-09-24 05:16:38,254 - mmdet - INFO - Epoch [6][3240/3517]	lr: 4.484e-05, eta: 14:12:03, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0120, loss_waypoint: 0.2130, debug_std_frame_0: 0.3371, debug_std_frame_1: 0.3782, debug_std_frame_2: 0.4333, debug_std_frame_3: 0.4837, debug_std_frame_4: 0.5459, debug_std_frame_5: 0.5980, loss_rl: -0.1117, loss_critic: 1.5524, loss_rl_bc: 0.0590, il_score: 0.5951, rl_score: 0.4724, prev_frame_loss_waypoint_0: 0.2573, prev_frame_loss_rl_bc_0: 0.1002, loss: 2.0822, grad_norm: 81.8545, il_score_sum: 59.5423, rl_score_sum: 60.7920, score_diff: -1.2497, il_win: 63.3500, rl_win: 63.4500
2025-09-24 05:16:54,100 - mmdet - INFO - Epoch [6][3260/3517]	lr: 4.484e-05, eta: 14:11:46, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.3269, debug_std_frame_0: 0.4882, debug_std_frame_1: 0.5143, debug_std_frame_2: 0.5538, debug_std_frame_3: 0.5928, debug_std_frame_4: 0.6441, debug_std_frame_5: 0.6819, loss_rl: -0.1223, loss_critic: 1.5105, loss_rl_bc: 0.0490, il_score: 0.4817, rl_score: 0.4872, prev_frame_loss_waypoint_0: 0.3289, prev_frame_loss_rl_bc_0: 0.0490, loss: 2.1549, grad_norm: 102.5254, il_score_sum: 59.5423, rl_score_sum: 60.7920, score_diff: -1.2497, il_win: 63.3500, rl_win: 63.4500
2025-09-24 05:17:10,002 - mmdet - INFO - Epoch [6][3280/3517]	lr: 4.484e-05, eta: 14:11:29, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2441, debug_std_frame_0: 0.4486, debug_std_frame_1: 0.4700, debug_std_frame_2: 0.5024, debug_std_frame_3: 0.5371, debug_std_frame_4: 0.5854, debug_std_frame_5: 0.6223, loss_rl: -0.2262, loss_critic: 1.5861, loss_rl_bc: 0.0304, il_score: 0.5765, rl_score: 0.5917, prev_frame_loss_waypoint_0: 0.2698, prev_frame_loss_rl_bc_0: 0.0343, loss: 1.9516, grad_norm: 67.3812, il_score_sum: 59.5423, rl_score_sum: 60.7920, score_diff: -1.2497, il_win: 63.3500, rl_win: 63.4500
2025-09-24 05:17:25,935 - mmdet - INFO - Epoch [6][3300/3517]	lr: 4.484e-05, eta: 14:11:13, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0119, loss_waypoint: 0.1876, debug_std_frame_0: 0.4446, debug_std_frame_1: 0.4666, debug_std_frame_2: 0.4973, debug_std_frame_3: 0.5310, debug_std_frame_4: 0.5733, debug_std_frame_5: 0.6064, loss_rl: -0.2833, loss_critic: 1.5526, loss_rl_bc: 0.0259, il_score: 0.6334, rl_score: 0.6215, prev_frame_loss_waypoint_0: 0.2124, prev_frame_loss_rl_bc_0: 0.0298, loss: 1.7369, grad_norm: 50.8202, il_score_sum: 59.5423, rl_score_sum: 60.7920, score_diff: -1.2497, il_win: 63.3500, rl_win: 63.4500
2025-09-24 05:17:42,012 - mmdet - INFO - Epoch [6][3320/3517]	lr: 4.484e-05, eta: 14:10:56, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.2222, debug_std_frame_0: 0.4072, debug_std_frame_1: 0.4300, debug_std_frame_2: 0.4649, debug_std_frame_3: 0.4999, debug_std_frame_4: 0.5434, debug_std_frame_5: 0.5813, loss_rl: -0.2504, loss_critic: 1.2754, loss_rl_bc: 0.0238, il_score: 0.5635, rl_score: 0.5929, prev_frame_loss_waypoint_0: 0.2434, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.5524, grad_norm: 45.5048, il_score_sum: 59.4771, rl_score_sum: 60.4676, score_diff: -0.9904, il_win: 63.5000, rl_win: 63.9000
2025-09-24 05:17:57,784 - mmdet - INFO - Epoch [6][3340/3517]	lr: 4.484e-05, eta: 14:10:39, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.2476, debug_std_frame_0: 0.3557, debug_std_frame_1: 0.3869, debug_std_frame_2: 0.4318, debug_std_frame_3: 0.4740, debug_std_frame_4: 0.5252, debug_std_frame_5: 0.5737, loss_rl: -0.2253, loss_critic: 1.5703, loss_rl_bc: 0.0284, il_score: 0.5947, rl_score: 0.6038, prev_frame_loss_waypoint_0: 0.2426, prev_frame_loss_rl_bc_0: 0.0336, loss: 1.9113, grad_norm: 64.4738, il_score_sum: 59.4771, rl_score_sum: 60.4676, score_diff: -0.9904, il_win: 63.5000, rl_win: 63.9000
2025-09-24 05:18:13,576 - mmdet - INFO - Epoch [6][3360/3517]	lr: 4.484e-05, eta: 14:10:22, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.1984, debug_std_frame_0: 0.3159, debug_std_frame_1: 0.3511, debug_std_frame_2: 0.4028, debug_std_frame_3: 0.4547, debug_std_frame_4: 0.5149, debug_std_frame_5: 0.5716, loss_rl: -0.1998, loss_critic: 1.1964, loss_rl_bc: 0.0194, il_score: 0.6298, rl_score: 0.6270, prev_frame_loss_waypoint_0: 0.2045, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.4517, grad_norm: 47.3381, il_score_sum: 59.4771, rl_score_sum: 60.4676, score_diff: -0.9904, il_win: 63.5000, rl_win: 63.9000
2025-09-24 05:18:29,670 - mmdet - INFO - Epoch [6][3380/3517]	lr: 4.484e-05, eta: 14:10:06, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2437, debug_std_frame_0: 0.2881, debug_std_frame_1: 0.3187, debug_std_frame_2: 0.3673, debug_std_frame_3: 0.4165, debug_std_frame_4: 0.4769, debug_std_frame_5: 0.5345, loss_rl: -0.2161, loss_critic: 1.2706, loss_rl_bc: 0.0245, il_score: 0.6156, rl_score: 0.6196, prev_frame_loss_waypoint_0: 0.2610, prev_frame_loss_rl_bc_0: 0.0299, loss: 1.6272, grad_norm: 66.4287, il_score_sum: 59.4771, rl_score_sum: 60.4676, score_diff: -0.9904, il_win: 63.5000, rl_win: 63.9000
2025-09-24 05:18:45,534 - mmdet - INFO - Epoch [6][3400/3517]	lr: 4.484e-05, eta: 14:09:50, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0155, loss_waypoint: 0.1953, debug_std_frame_0: 0.2695, debug_std_frame_1: 0.3003, debug_std_frame_2: 0.3517, debug_std_frame_3: 0.4031, debug_std_frame_4: 0.4619, debug_std_frame_5: 0.5228, loss_rl: -0.2261, loss_critic: 1.1974, loss_rl_bc: 0.0174, il_score: 0.6268, rl_score: 0.6180, prev_frame_loss_waypoint_0: 0.2117, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.4327, grad_norm: 59.0237, il_score_sum: 59.4771, rl_score_sum: 60.4676, score_diff: -0.9904, il_win: 63.5000, rl_win: 63.9000
2025-09-24 05:19:01,505 - mmdet - INFO - Epoch [6][3420/3517]	lr: 4.484e-05, eta: 14:09:33, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2085, debug_std_frame_0: 0.2823, debug_std_frame_1: 0.3129, debug_std_frame_2: 0.3624, debug_std_frame_3: 0.4162, debug_std_frame_4: 0.4774, debug_std_frame_5: 0.5400, loss_rl: -0.1833, loss_critic: 1.3959, loss_rl_bc: 0.0197, il_score: 0.5961, rl_score: 0.6206, prev_frame_loss_waypoint_0: 0.2339, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.7108, grad_norm: 68.5602, il_score_sum: 59.5535, rl_score_sum: 60.6093, score_diff: -1.0558, il_win: 63.6500, rl_win: 64.3500
2025-09-24 05:19:17,242 - mmdet - INFO - Epoch [6][3440/3517]	lr: 4.484e-05, eta: 14:09:16, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0132, loss_waypoint: 0.1987, debug_std_frame_0: 0.2803, debug_std_frame_1: 0.3075, debug_std_frame_2: 0.3522, debug_std_frame_3: 0.3994, debug_std_frame_4: 0.4506, debug_std_frame_5: 0.5078, loss_rl: -0.2334, loss_critic: 1.2141, loss_rl_bc: 0.0232, il_score: 0.6748, rl_score: 0.6480, prev_frame_loss_waypoint_0: 0.2184, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.4582, grad_norm: 47.1023, il_score_sum: 59.5535, rl_score_sum: 60.6093, score_diff: -1.0558, il_win: 63.6500, rl_win: 64.3500
2025-09-24 05:19:33,115 - mmdet - INFO - Epoch [6][3460/3517]	lr: 4.484e-05, eta: 14:09:00, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0143, loss_waypoint: 0.1820, debug_std_frame_0: 0.2686, debug_std_frame_1: 0.2992, debug_std_frame_2: 0.3460, debug_std_frame_3: 0.3966, debug_std_frame_4: 0.4473, debug_std_frame_5: 0.5079, loss_rl: -0.2123, loss_critic: 1.4283, loss_rl_bc: 0.0142, il_score: 0.6338, rl_score: 0.6334, prev_frame_loss_waypoint_0: 0.2097, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.6502, grad_norm: 51.2982, il_score_sum: 59.5535, rl_score_sum: 60.6093, score_diff: -1.0558, il_win: 63.6500, rl_win: 64.3500
2025-09-24 05:19:48,989 - mmdet - INFO - Epoch [6][3480/3517]	lr: 4.484e-05, eta: 14:08:43, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.2363, debug_std_frame_0: 0.2462, debug_std_frame_1: 0.2812, debug_std_frame_2: 0.3320, debug_std_frame_3: 0.3863, debug_std_frame_4: 0.4408, debug_std_frame_5: 0.5015, loss_rl: -0.2241, loss_critic: 1.4219, loss_rl_bc: 0.0171, il_score: 0.5912, rl_score: 0.6305, prev_frame_loss_waypoint_0: 0.2671, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.7515, grad_norm: 65.9446, il_score_sum: 59.5535, rl_score_sum: 60.6093, score_diff: -1.0558, il_win: 63.6500, rl_win: 64.3500
2025-09-24 05:20:04,835 - mmdet - INFO - Epoch [6][3500/3517]	lr: 4.484e-05, eta: 14:08:26, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2254, debug_std_frame_0: 0.2589, debug_std_frame_1: 0.2874, debug_std_frame_2: 0.3319, debug_std_frame_3: 0.3773, debug_std_frame_4: 0.4268, debug_std_frame_5: 0.4814, loss_rl: -0.2264, loss_critic: 1.5693, loss_rl_bc: 0.0210, il_score: 0.6015, rl_score: 0.6352, prev_frame_loss_waypoint_0: 0.2326, prev_frame_loss_rl_bc_0: 0.0210, loss: 1.8566, grad_norm: 72.5892, il_score_sum: 59.5535, rl_score_sum: 60.6093, score_diff: -1.0558, il_win: 63.6500, rl_win: 64.3500
2025-09-24 05:20:18,184 - mmdet - INFO - Saving checkpoint at 6 epochs
2025-09-24 05:22:50,538 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 05:22:50,538 - mmdet - INFO - Epoch(val) [6][753]	plan_L2_1s: 0.3972, plan_L2_2s: 0.7449, plan_L2_3s: 1.1922, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0001, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0065, plan_obj_box_col_2s: 0.0078, plan_obj_box_col_3s: 0.0114, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.7232, plan_L2_2s_rl_actor: 1.2809, plan_L2_3s_rl_actor: 1.9112, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0001, plan_obj_col_3s_rl_actor: 0.0002, plan_obj_box_col_1s_rl_actor: 0.0075, plan_obj_box_col_2s_rl_actor: 0.0120, plan_obj_box_col_3s_rl_actor: 0.0162, fut_valid_flag_rl_actor: 1.0000
2025-09-24 05:23:14,549 - mmdet - INFO - Epoch [7][20/3517]	lr: 4.268e-05, eta: 14:07:39, time: 1.199, data_time: 0.335, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2415, debug_std_frame_0: 0.3046, debug_std_frame_1: 0.3313, debug_std_frame_2: 0.3761, debug_std_frame_3: 0.4223, debug_std_frame_4: 0.4774, debug_std_frame_5: 0.5321, loss_rl: -0.2090, loss_critic: 1.2850, loss_rl_bc: 0.0271, il_score: 0.5685, rl_score: 0.5968, prev_frame_loss_waypoint_0: 0.2657, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.6493, grad_norm: 100.9878
2025-09-24 05:23:31,021 - mmdet - INFO - Epoch [7][40/3517]	lr: 4.268e-05, eta: 14:07:24, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2159, debug_std_frame_0: 0.3038, debug_std_frame_1: 0.3336, debug_std_frame_2: 0.3774, debug_std_frame_3: 0.4223, debug_std_frame_4: 0.4756, debug_std_frame_5: 0.5275, loss_rl: -0.2297, loss_critic: 1.2830, loss_rl_bc: 0.0171, il_score: 0.6230, rl_score: 0.6413, prev_frame_loss_waypoint_0: 0.2412, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.5687, grad_norm: 67.0847
2025-09-24 05:23:47,753 - mmdet - INFO - Epoch [7][60/3517]	lr: 4.268e-05, eta: 14:07:10, time: 0.836, data_time: 0.014, memory: 8550, loss_rec: 0.0134, loss_waypoint: 0.2324, debug_std_frame_0: 0.3126, debug_std_frame_1: 0.3447, debug_std_frame_2: 0.3982, debug_std_frame_3: 0.4558, debug_std_frame_4: 0.5175, debug_std_frame_5: 0.5732, loss_rl: -0.2198, loss_critic: 1.2161, loss_rl_bc: 0.0218, il_score: 0.6066, rl_score: 0.6116, prev_frame_loss_waypoint_0: 0.2638, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.5589, grad_norm: 62.9667
2025-09-24 05:24:04,230 - mmdet - INFO - Epoch [7][80/3517]	lr: 4.268e-05, eta: 14:06:55, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.2342, debug_std_frame_0: 0.2916, debug_std_frame_1: 0.3196, debug_std_frame_2: 0.3717, debug_std_frame_3: 0.4294, debug_std_frame_4: 0.4852, debug_std_frame_5: 0.5447, loss_rl: -0.2118, loss_critic: 1.7651, loss_rl_bc: 0.0366, il_score: 0.6034, rl_score: 0.5604, prev_frame_loss_waypoint_0: 0.2576, prev_frame_loss_rl_bc_0: 0.0381, loss: 2.1328, grad_norm: 93.2144
2025-09-24 05:24:21,118 - mmdet - INFO - Epoch [7][100/3517]	lr: 4.268e-05, eta: 14:06:42, time: 0.844, data_time: 0.014, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2872, debug_std_frame_0: 0.3586, debug_std_frame_1: 0.3862, debug_std_frame_2: 0.4329, debug_std_frame_3: 0.4854, debug_std_frame_4: 0.5399, debug_std_frame_5: 0.5931, loss_rl: -0.1938, loss_critic: 1.5197, loss_rl_bc: 0.0458, il_score: 0.5112, rl_score: 0.5686, prev_frame_loss_waypoint_0: 0.3000, prev_frame_loss_rl_bc_0: 0.0449, loss: 2.0163, grad_norm: 85.9442, il_score_sum: 58.7015, rl_score_sum: 59.8614, score_diff: -1.1599, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:24:37,458 - mmdet - INFO - Epoch [7][120/3517]	lr: 4.268e-05, eta: 14:06:26, time: 0.817, data_time: 0.014, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2484, debug_std_frame_0: 0.3801, debug_std_frame_1: 0.4019, debug_std_frame_2: 0.4397, debug_std_frame_3: 0.4839, debug_std_frame_4: 0.5325, debug_std_frame_5: 0.5815, loss_rl: -0.2471, loss_critic: 1.1783, loss_rl_bc: 0.0246, il_score: 0.6257, rl_score: 0.6579, prev_frame_loss_waypoint_0: 0.2502, prev_frame_loss_rl_bc_0: 0.0265, loss: 1.4945, grad_norm: 65.3899, il_score_sum: 58.7015, rl_score_sum: 59.8614, score_diff: -1.1599, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:24:54,108 - mmdet - INFO - Epoch [7][140/3517]	lr: 4.268e-05, eta: 14:06:12, time: 0.833, data_time: 0.014, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.1873, debug_std_frame_0: 0.3598, debug_std_frame_1: 0.3808, debug_std_frame_2: 0.4180, debug_std_frame_3: 0.4648, debug_std_frame_4: 0.5136, debug_std_frame_5: 0.5675, loss_rl: -0.2694, loss_critic: 1.4445, loss_rl_bc: 0.0180, il_score: 0.6062, rl_score: 0.6278, prev_frame_loss_waypoint_0: 0.2496, prev_frame_loss_rl_bc_0: 0.0268, loss: 1.6699, grad_norm: 62.2014, il_score_sum: 58.7015, rl_score_sum: 59.8614, score_diff: -1.1599, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:25:10,688 - mmdet - INFO - Epoch [7][160/3517]	lr: 4.268e-05, eta: 14:05:57, time: 0.829, data_time: 0.014, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.2445, debug_std_frame_0: 0.3209, debug_std_frame_1: 0.3426, debug_std_frame_2: 0.3830, debug_std_frame_3: 0.4312, debug_std_frame_4: 0.4830, debug_std_frame_5: 0.5407, loss_rl: -0.2086, loss_critic: 1.5929, loss_rl_bc: 0.0172, il_score: 0.5558, rl_score: 0.6001, prev_frame_loss_waypoint_0: 0.2781, prev_frame_loss_rl_bc_0: 0.0207, loss: 1.9586, grad_norm: 98.6456, il_score_sum: 58.7015, rl_score_sum: 59.8614, score_diff: -1.1599, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:25:27,058 - mmdet - INFO - Epoch [7][180/3517]	lr: 4.268e-05, eta: 14:05:42, time: 0.819, data_time: 0.014, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2116, debug_std_frame_0: 0.2894, debug_std_frame_1: 0.3156, debug_std_frame_2: 0.3603, debug_std_frame_3: 0.4127, debug_std_frame_4: 0.4689, debug_std_frame_5: 0.5293, loss_rl: -0.1755, loss_critic: 1.2112, loss_rl_bc: 0.0292, il_score: 0.6208, rl_score: 0.6105, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.5353, grad_norm: 51.4298, il_score_sum: 58.7015, rl_score_sum: 59.8614, score_diff: -1.1599, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:25:43,841 - mmdet - INFO - Epoch [7][200/3517]	lr: 4.268e-05, eta: 14:05:28, time: 0.839, data_time: 0.013, memory: 8550, loss_rec: 0.0132, loss_waypoint: 0.2300, debug_std_frame_0: 0.3042, debug_std_frame_1: 0.3352, debug_std_frame_2: 0.3884, debug_std_frame_3: 0.4470, debug_std_frame_4: 0.5056, debug_std_frame_5: 0.5661, loss_rl: -0.1295, loss_critic: 1.2788, loss_rl_bc: 0.0352, il_score: 0.6014, rl_score: 0.5387, prev_frame_loss_waypoint_0: 0.2363, prev_frame_loss_rl_bc_0: 0.0353, loss: 1.6994, grad_norm: 64.1592, il_score_sum: 59.3744, rl_score_sum: 60.2655, score_diff: -0.8911, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:26:00,211 - mmdet - INFO - Epoch [7][220/3517]	lr: 4.268e-05, eta: 14:05:13, time: 0.819, data_time: 0.015, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.2088, debug_std_frame_0: 0.3205, debug_std_frame_1: 0.3481, debug_std_frame_2: 0.4014, debug_std_frame_3: 0.4569, debug_std_frame_4: 0.5181, debug_std_frame_5: 0.5787, loss_rl: -0.2297, loss_critic: 1.2908, loss_rl_bc: 0.0172, il_score: 0.6113, rl_score: 0.6373, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0181, loss: 1.5459, grad_norm: 63.7737, il_score_sum: 59.3744, rl_score_sum: 60.2655, score_diff: -0.8911, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:26:16,557 - mmdet - INFO - Epoch [7][240/3517]	lr: 4.268e-05, eta: 14:04:58, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.2285, debug_std_frame_0: 0.2874, debug_std_frame_1: 0.3103, debug_std_frame_2: 0.3571, debug_std_frame_3: 0.4061, debug_std_frame_4: 0.4567, debug_std_frame_5: 0.5156, loss_rl: -0.2803, loss_critic: 1.5208, loss_rl_bc: 0.0153, il_score: 0.5975, rl_score: 0.6511, prev_frame_loss_waypoint_0: 0.2360, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.7503, grad_norm: 76.1911, il_score_sum: 59.3744, rl_score_sum: 60.2655, score_diff: -0.8911, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:26:32,867 - mmdet - INFO - Epoch [7][260/3517]	lr: 4.268e-05, eta: 14:04:42, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.2276, debug_std_frame_0: 0.2643, debug_std_frame_1: 0.2915, debug_std_frame_2: 0.3433, debug_std_frame_3: 0.4045, debug_std_frame_4: 0.4653, debug_std_frame_5: 0.5318, loss_rl: -0.2108, loss_critic: 1.1402, loss_rl_bc: 0.0205, il_score: 0.6131, rl_score: 0.6418, prev_frame_loss_waypoint_0: 0.2453, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.4578, grad_norm: 61.9428, il_score_sum: 59.3744, rl_score_sum: 60.2655, score_diff: -0.8911, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:26:49,012 - mmdet - INFO - Epoch [7][280/3517]	lr: 4.268e-05, eta: 14:04:26, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2237, debug_std_frame_0: 0.2741, debug_std_frame_1: 0.2981, debug_std_frame_2: 0.3500, debug_std_frame_3: 0.4086, debug_std_frame_4: 0.4661, debug_std_frame_5: 0.5330, loss_rl: -0.1812, loss_critic: 1.2271, loss_rl_bc: 0.0205, il_score: 0.5840, rl_score: 0.6055, prev_frame_loss_waypoint_0: 0.2350, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.5635, grad_norm: 77.1464, il_score_sum: 59.3744, rl_score_sum: 60.2655, score_diff: -0.8911, il_win: 66.0000, rl_win: 69.0000
2025-09-24 05:27:05,424 - mmdet - INFO - Epoch [7][300/3517]	lr: 4.268e-05, eta: 14:04:11, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2179, debug_std_frame_0: 0.2803, debug_std_frame_1: 0.3097, debug_std_frame_2: 0.3660, debug_std_frame_3: 0.4229, debug_std_frame_4: 0.4801, debug_std_frame_5: 0.5470, loss_rl: -0.1532, loss_critic: 1.1103, loss_rl_bc: 0.0226, il_score: 0.6158, rl_score: 0.5984, prev_frame_loss_waypoint_0: 0.2476, prev_frame_loss_rl_bc_0: 0.0294, loss: 1.4880, grad_norm: 66.3932, il_score_sum: 59.8065, rl_score_sum: 61.0588, score_diff: -1.2522, il_win: 66.0000, rl_win: 69.3333
2025-09-24 05:27:21,240 - mmdet - INFO - Epoch [7][320/3517]	lr: 4.268e-05, eta: 14:03:54, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0152, loss_waypoint: 0.2223, debug_std_frame_0: 0.2869, debug_std_frame_1: 0.3142, debug_std_frame_2: 0.3649, debug_std_frame_3: 0.4159, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5356, loss_rl: -0.2175, loss_critic: 1.6371, loss_rl_bc: 0.0157, il_score: 0.5736, rl_score: 0.6173, prev_frame_loss_waypoint_0: 0.2402, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.9334, grad_norm: 85.9308, il_score_sum: 59.8065, rl_score_sum: 61.0588, score_diff: -1.2522, il_win: 66.0000, rl_win: 69.3333
2025-09-24 05:27:37,402 - mmdet - INFO - Epoch [7][340/3517]	lr: 4.268e-05, eta: 14:03:39, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0154, loss_waypoint: 0.2304, debug_std_frame_0: 0.2896, debug_std_frame_1: 0.3162, debug_std_frame_2: 0.3655, debug_std_frame_3: 0.4177, debug_std_frame_4: 0.4737, debug_std_frame_5: 0.5386, loss_rl: -0.1559, loss_critic: 1.2003, loss_rl_bc: 0.0324, il_score: 0.6075, rl_score: 0.5964, prev_frame_loss_waypoint_0: 0.2552, prev_frame_loss_rl_bc_0: 0.0359, loss: 1.6137, grad_norm: 69.0268, il_score_sum: 59.8065, rl_score_sum: 61.0588, score_diff: -1.2522, il_win: 66.0000, rl_win: 69.3333
2025-09-24 05:27:53,507 - mmdet - INFO - Epoch [7][360/3517]	lr: 4.268e-05, eta: 14:03:23, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0154, loss_waypoint: 0.1999, debug_std_frame_0: 0.3397, debug_std_frame_1: 0.3667, debug_std_frame_2: 0.4113, debug_std_frame_3: 0.4584, debug_std_frame_4: 0.5078, debug_std_frame_5: 0.5666, loss_rl: -0.1644, loss_critic: 1.2515, loss_rl_bc: 0.0328, il_score: 0.6302, rl_score: 0.5782, prev_frame_loss_waypoint_0: 0.2276, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.6016, grad_norm: 71.4387, il_score_sum: 59.8065, rl_score_sum: 61.0588, score_diff: -1.2522, il_win: 66.0000, rl_win: 69.3333
2025-09-24 05:28:09,778 - mmdet - INFO - Epoch [7][380/3517]	lr: 4.268e-05, eta: 14:03:07, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0150, loss_waypoint: 0.2239, debug_std_frame_0: 0.3588, debug_std_frame_1: 0.3852, debug_std_frame_2: 0.4274, debug_std_frame_3: 0.4714, debug_std_frame_4: 0.5192, debug_std_frame_5: 0.5743, loss_rl: -0.1372, loss_critic: 1.2335, loss_rl_bc: 0.0320, il_score: 0.6199, rl_score: 0.5809, prev_frame_loss_waypoint_0: 0.2428, prev_frame_loss_rl_bc_0: 0.0370, loss: 1.6471, grad_norm: 66.1485, il_score_sum: 59.8065, rl_score_sum: 61.0588, score_diff: -1.2522, il_win: 66.0000, rl_win: 69.3333
2025-09-24 05:28:26,121 - mmdet - INFO - Epoch [7][400/3517]	lr: 4.268e-05, eta: 14:02:52, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.2411, debug_std_frame_0: 0.3607, debug_std_frame_1: 0.3871, debug_std_frame_2: 0.4293, debug_std_frame_3: 0.4736, debug_std_frame_4: 0.5208, debug_std_frame_5: 0.5705, loss_rl: -0.1713, loss_critic: 1.3402, loss_rl_bc: 0.0265, il_score: 0.5678, rl_score: 0.5764, prev_frame_loss_waypoint_0: 0.2612, prev_frame_loss_rl_bc_0: 0.0271, loss: 1.7403, grad_norm: 74.7382, il_score_sum: 59.8189, rl_score_sum: 60.5321, score_diff: -0.7132, il_win: 66.0000, rl_win: 69.5000
2025-09-24 05:28:42,129 - mmdet - INFO - Epoch [7][420/3517]	lr: 4.268e-05, eta: 14:02:35, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.2057, debug_std_frame_0: 0.3355, debug_std_frame_1: 0.3620, debug_std_frame_2: 0.4045, debug_std_frame_3: 0.4488, debug_std_frame_4: 0.4956, debug_std_frame_5: 0.5482, loss_rl: -0.2536, loss_critic: 1.3065, loss_rl_bc: 0.0184, il_score: 0.5880, rl_score: 0.6296, prev_frame_loss_waypoint_0: 0.2318, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5458, grad_norm: 61.8396, il_score_sum: 59.8189, rl_score_sum: 60.5321, score_diff: -0.7132, il_win: 66.0000, rl_win: 69.5000
2025-09-24 05:28:58,099 - mmdet - INFO - Epoch [7][440/3517]	lr: 4.268e-05, eta: 14:02:19, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0161, loss_waypoint: 0.1813, debug_std_frame_0: 0.3124, debug_std_frame_1: 0.3404, debug_std_frame_2: 0.3848, debug_std_frame_3: 0.4290, debug_std_frame_4: 0.4749, debug_std_frame_5: 0.5261, loss_rl: -0.2341, loss_critic: 1.4367, loss_rl_bc: 0.0145, il_score: 0.5717, rl_score: 0.5929, prev_frame_loss_waypoint_0: 0.2110, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.6425, grad_norm: 60.5040, il_score_sum: 59.8189, rl_score_sum: 60.5321, score_diff: -0.7132, il_win: 66.0000, rl_win: 69.5000
2025-09-24 05:29:14,257 - mmdet - INFO - Epoch [7][460/3517]	lr: 4.268e-05, eta: 14:02:03, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0151, loss_waypoint: 0.2118, debug_std_frame_0: 0.2888, debug_std_frame_1: 0.3169, debug_std_frame_2: 0.3716, debug_std_frame_3: 0.4243, debug_std_frame_4: 0.4804, debug_std_frame_5: 0.5400, loss_rl: -0.2001, loss_critic: 1.2499, loss_rl_bc: 0.0225, il_score: 0.5968, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.5486, grad_norm: 46.0256, il_score_sum: 59.8189, rl_score_sum: 60.5321, score_diff: -0.7132, il_win: 66.0000, rl_win: 69.5000
2025-09-24 05:29:30,164 - mmdet - INFO - Epoch [7][480/3517]	lr: 4.268e-05, eta: 14:01:47, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.1981, debug_std_frame_0: 0.2866, debug_std_frame_1: 0.3138, debug_std_frame_2: 0.3699, debug_std_frame_3: 0.4283, debug_std_frame_4: 0.4923, debug_std_frame_5: 0.5536, loss_rl: -0.2235, loss_critic: 1.2465, loss_rl_bc: 0.0186, il_score: 0.6446, rl_score: 0.6520, prev_frame_loss_waypoint_0: 0.2021, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.4752, grad_norm: 55.0930, il_score_sum: 59.8189, rl_score_sum: 60.5321, score_diff: -0.7132, il_win: 66.0000, rl_win: 69.5000
2025-09-24 05:29:46,827 - mmdet - INFO - Epoch [7][500/3517]	lr: 4.268e-05, eta: 14:01:32, time: 0.833, data_time: 0.014, memory: 8550, loss_rec: 0.0164, loss_waypoint: 0.2231, debug_std_frame_0: 0.2560, debug_std_frame_1: 0.2847, debug_std_frame_2: 0.3345, debug_std_frame_3: 0.3931, debug_std_frame_4: 0.4544, debug_std_frame_5: 0.5172, loss_rl: -0.2073, loss_critic: 1.3629, loss_rl_bc: 0.0221, il_score: 0.6114, rl_score: 0.6390, prev_frame_loss_waypoint_0: 0.2393, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.6770, grad_norm: 80.6689, il_score_sum: 59.8996, rl_score_sum: 60.9208, score_diff: -1.0212, il_win: 66.0000, rl_win: 69.8000
2025-09-24 05:30:02,791 - mmdet - INFO - Epoch [7][520/3517]	lr: 4.268e-05, eta: 14:01:16, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0150, loss_waypoint: 0.2181, debug_std_frame_0: 0.2520, debug_std_frame_1: 0.2821, debug_std_frame_2: 0.3338, debug_std_frame_3: 0.3881, debug_std_frame_4: 0.4437, debug_std_frame_5: 0.5060, loss_rl: -0.1924, loss_critic: 1.5802, loss_rl_bc: 0.0239, il_score: 0.6030, rl_score: 0.6035, prev_frame_loss_waypoint_0: 0.2121, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.8796, grad_norm: 66.6175, il_score_sum: 59.8996, rl_score_sum: 60.9208, score_diff: -1.0212, il_win: 66.0000, rl_win: 69.8000
2025-09-24 05:30:18,982 - mmdet - INFO - Epoch [7][540/3517]	lr: 4.268e-05, eta: 14:01:00, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.2453, debug_std_frame_0: 0.2802, debug_std_frame_1: 0.3151, debug_std_frame_2: 0.3673, debug_std_frame_3: 0.4257, debug_std_frame_4: 0.4874, debug_std_frame_5: 0.5516, loss_rl: -0.1479, loss_critic: 1.6134, loss_rl_bc: 0.0397, il_score: 0.5897, rl_score: 0.5320, prev_frame_loss_waypoint_0: 0.2454, prev_frame_loss_rl_bc_0: 0.0374, loss: 2.0477, grad_norm: 86.4945, il_score_sum: 59.8996, rl_score_sum: 60.9208, score_diff: -1.0212, il_win: 66.0000, rl_win: 69.8000
2025-09-24 05:30:35,078 - mmdet - INFO - Epoch [7][560/3517]	lr: 4.268e-05, eta: 14:00:44, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.2101, debug_std_frame_0: 0.3289, debug_std_frame_1: 0.3600, debug_std_frame_2: 0.4065, debug_std_frame_3: 0.4582, debug_std_frame_4: 0.5192, debug_std_frame_5: 0.5788, loss_rl: -0.1957, loss_critic: 1.5389, loss_rl_bc: 0.0330, il_score: 0.6151, rl_score: 0.5580, prev_frame_loss_waypoint_0: 0.2275, prev_frame_loss_rl_bc_0: 0.0329, loss: 1.8607, grad_norm: 79.1946, il_score_sum: 59.8996, rl_score_sum: 60.9208, score_diff: -1.0212, il_win: 66.0000, rl_win: 69.8000
2025-09-24 05:30:51,175 - mmdet - INFO - Epoch [7][580/3517]	lr: 4.268e-05, eta: 14:00:28, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0150, loss_waypoint: 0.2503, debug_std_frame_0: 0.3454, debug_std_frame_1: 0.3770, debug_std_frame_2: 0.4261, debug_std_frame_3: 0.4789, debug_std_frame_4: 0.5403, debug_std_frame_5: 0.5969, loss_rl: -0.2289, loss_critic: 1.1981, loss_rl_bc: 0.0226, il_score: 0.6025, rl_score: 0.6137, prev_frame_loss_waypoint_0: 0.2700, prev_frame_loss_rl_bc_0: 0.0233, loss: 1.5503, grad_norm: 81.7616, il_score_sum: 59.8996, rl_score_sum: 60.9208, score_diff: -1.0212, il_win: 66.0000, rl_win: 69.8000
2025-09-24 05:31:08,050 - mmdet - INFO - Epoch [7][600/3517]	lr: 4.268e-05, eta: 14:00:14, time: 0.843, data_time: 0.012, memory: 8550, loss_rec: 0.0148, loss_waypoint: 0.2253, debug_std_frame_0: 0.3080, debug_std_frame_1: 0.3431, debug_std_frame_2: 0.3957, debug_std_frame_3: 0.4557, debug_std_frame_4: 0.5218, debug_std_frame_5: 0.5826, loss_rl: -0.2194, loss_critic: 1.5532, loss_rl_bc: 0.0181, il_score: 0.5610, rl_score: 0.6072, prev_frame_loss_waypoint_0: 0.2644, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.8794, grad_norm: 77.9767, il_score_sum: 59.8510, rl_score_sum: 60.4867, score_diff: -0.6357, il_win: 66.1667, rl_win: 70.0000
2025-09-24 05:31:24,444 - mmdet - INFO - Epoch [7][620/3517]	lr: 4.268e-05, eta: 13:59:59, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2515, debug_std_frame_0: 0.2857, debug_std_frame_1: 0.3193, debug_std_frame_2: 0.3735, debug_std_frame_3: 0.4275, debug_std_frame_4: 0.4943, debug_std_frame_5: 0.5577, loss_rl: -0.2101, loss_critic: 1.4935, loss_rl_bc: 0.0174, il_score: 0.5607, rl_score: 0.5894, prev_frame_loss_waypoint_0: 0.2896, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.8786, grad_norm: 80.4783, il_score_sum: 59.8510, rl_score_sum: 60.4867, score_diff: -0.6357, il_win: 66.1667, rl_win: 70.0000
2025-09-24 05:31:40,691 - mmdet - INFO - Epoch [7][640/3517]	lr: 4.268e-05, eta: 13:59:43, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0162, loss_waypoint: 0.2358, debug_std_frame_0: 0.2735, debug_std_frame_1: 0.3090, debug_std_frame_2: 0.3620, debug_std_frame_3: 0.4167, debug_std_frame_4: 0.4794, debug_std_frame_5: 0.5410, loss_rl: -0.2928, loss_critic: 1.5248, loss_rl_bc: 0.0133, il_score: 0.6028, rl_score: 0.6648, prev_frame_loss_waypoint_0: 0.2588, prev_frame_loss_rl_bc_0: 0.0223, loss: 1.7783, grad_norm: 78.8159, il_score_sum: 59.8510, rl_score_sum: 60.4867, score_diff: -0.6357, il_win: 66.1667, rl_win: 70.0000
2025-09-24 05:31:56,634 - mmdet - INFO - Epoch [7][660/3517]	lr: 4.268e-05, eta: 13:59:27, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2222, debug_std_frame_0: 0.2560, debug_std_frame_1: 0.2891, debug_std_frame_2: 0.3405, debug_std_frame_3: 0.3921, debug_std_frame_4: 0.4471, debug_std_frame_5: 0.5112, loss_rl: -0.2456, loss_critic: 1.1957, loss_rl_bc: 0.0152, il_score: 0.5994, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.2575, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.4750, grad_norm: 69.4693, il_score_sum: 59.8510, rl_score_sum: 60.4867, score_diff: -0.6357, il_win: 66.1667, rl_win: 70.0000
2025-09-24 05:32:12,448 - mmdet - INFO - Epoch [7][680/3517]	lr: 4.268e-05, eta: 13:59:10, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.2448, debug_std_frame_0: 0.2668, debug_std_frame_1: 0.2983, debug_std_frame_2: 0.3489, debug_std_frame_3: 0.4013, debug_std_frame_4: 0.4580, debug_std_frame_5: 0.5187, loss_rl: -0.2415, loss_critic: 1.2540, loss_rl_bc: 0.0193, il_score: 0.6201, rl_score: 0.6515, prev_frame_loss_waypoint_0: 0.2668, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.5805, grad_norm: 75.6305, il_score_sum: 59.8510, rl_score_sum: 60.4867, score_diff: -0.6357, il_win: 66.1667, rl_win: 70.0000
2025-09-24 05:32:28,833 - mmdet - INFO - Epoch [7][700/3517]	lr: 4.268e-05, eta: 13:58:55, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0153, loss_waypoint: 0.2062, debug_std_frame_0: 0.2673, debug_std_frame_1: 0.3004, debug_std_frame_2: 0.3532, debug_std_frame_3: 0.4092, debug_std_frame_4: 0.4665, debug_std_frame_5: 0.5286, loss_rl: -0.2262, loss_critic: 1.2871, loss_rl_bc: 0.0219, il_score: 0.6021, rl_score: 0.6160, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.5507, grad_norm: 57.4898, il_score_sum: 59.7687, rl_score_sum: 60.9096, score_diff: -1.1409, il_win: 66.2857, rl_win: 70.2857
2025-09-24 05:32:44,805 - mmdet - INFO - Epoch [7][720/3517]	lr: 4.268e-05, eta: 13:58:39, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0154, loss_waypoint: 0.2083, debug_std_frame_0: 0.2517, debug_std_frame_1: 0.2815, debug_std_frame_2: 0.3323, debug_std_frame_3: 0.3840, debug_std_frame_4: 0.4359, debug_std_frame_5: 0.4957, loss_rl: -0.2350, loss_critic: 1.3719, loss_rl_bc: 0.0190, il_score: 0.6066, rl_score: 0.6396, prev_frame_loss_waypoint_0: 0.2202, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.6164, grad_norm: 64.5995, il_score_sum: 59.7687, rl_score_sum: 60.9096, score_diff: -1.1409, il_win: 66.2857, rl_win: 70.2857
2025-09-24 05:33:00,756 - mmdet - INFO - Epoch [7][740/3517]	lr: 4.268e-05, eta: 13:58:22, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.1919, debug_std_frame_0: 0.2568, debug_std_frame_1: 0.2953, debug_std_frame_2: 0.3541, debug_std_frame_3: 0.4124, debug_std_frame_4: 0.4723, debug_std_frame_5: 0.5306, loss_rl: -0.2137, loss_critic: 1.4679, loss_rl_bc: 0.0166, il_score: 0.6223, rl_score: 0.6227, prev_frame_loss_waypoint_0: 0.2153, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.7113, grad_norm: 61.4714, il_score_sum: 59.7687, rl_score_sum: 60.9096, score_diff: -1.1409, il_win: 66.2857, rl_win: 70.2857
2025-09-24 05:33:16,537 - mmdet - INFO - Epoch [7][760/3517]	lr: 4.268e-05, eta: 13:58:05, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2230, debug_std_frame_0: 0.2603, debug_std_frame_1: 0.2964, debug_std_frame_2: 0.3536, debug_std_frame_3: 0.4124, debug_std_frame_4: 0.4734, debug_std_frame_5: 0.5369, loss_rl: -0.1852, loss_critic: 1.3889, loss_rl_bc: 0.0188, il_score: 0.5670, rl_score: 0.5980, prev_frame_loss_waypoint_0: 0.2502, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.7305, grad_norm: 68.6004, il_score_sum: 59.7687, rl_score_sum: 60.9096, score_diff: -1.1409, il_win: 66.2857, rl_win: 70.2857
2025-09-24 05:33:32,519 - mmdet - INFO - Epoch [7][780/3517]	lr: 4.268e-05, eta: 13:57:49, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2221, debug_std_frame_0: 0.2628, debug_std_frame_1: 0.3013, debug_std_frame_2: 0.3624, debug_std_frame_3: 0.4238, debug_std_frame_4: 0.4865, debug_std_frame_5: 0.5506, loss_rl: -0.2302, loss_critic: 1.5980, loss_rl_bc: 0.0239, il_score: 0.6271, rl_score: 0.6110, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.8798, grad_norm: 66.9629, il_score_sum: 59.7687, rl_score_sum: 60.9096, score_diff: -1.1409, il_win: 66.2857, rl_win: 70.2857
2025-09-24 05:33:49,040 - mmdet - INFO - Epoch [7][800/3517]	lr: 4.268e-05, eta: 13:57:34, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0118, loss_waypoint: 0.2652, debug_std_frame_0: 0.2746, debug_std_frame_1: 0.3110, debug_std_frame_2: 0.3706, debug_std_frame_3: 0.4347, debug_std_frame_4: 0.5035, debug_std_frame_5: 0.5746, loss_rl: -0.1714, loss_critic: 1.4037, loss_rl_bc: 0.0316, il_score: 0.5722, rl_score: 0.5794, prev_frame_loss_waypoint_0: 0.2538, prev_frame_loss_rl_bc_0: 0.0303, loss: 1.8249, grad_norm: 75.7381, il_score_sum: 59.8201, rl_score_sum: 60.9487, score_diff: -1.1287, il_win: 66.3750, rl_win: 70.6250
2025-09-24 05:34:04,907 - mmdet - INFO - Epoch [7][820/3517]	lr: 4.268e-05, eta: 13:57:17, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2195, debug_std_frame_0: 0.2870, debug_std_frame_1: 0.3210, debug_std_frame_2: 0.3762, debug_std_frame_3: 0.4368, debug_std_frame_4: 0.5017, debug_std_frame_5: 0.5680, loss_rl: -0.2292, loss_critic: 1.2855, loss_rl_bc: 0.0201, il_score: 0.6222, rl_score: 0.6112, prev_frame_loss_waypoint_0: 0.2364, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.5697, grad_norm: 77.5984, il_score_sum: 59.8201, rl_score_sum: 60.9487, score_diff: -1.1287, il_win: 66.3750, rl_win: 70.6250
2025-09-24 05:34:20,816 - mmdet - INFO - Epoch [7][840/3517]	lr: 4.268e-05, eta: 13:57:01, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2262, debug_std_frame_0: 0.2900, debug_std_frame_1: 0.3277, debug_std_frame_2: 0.3864, debug_std_frame_3: 0.4493, debug_std_frame_4: 0.5176, debug_std_frame_5: 0.5855, loss_rl: -0.1824, loss_critic: 1.2287, loss_rl_bc: 0.0220, il_score: 0.6144, rl_score: 0.6238, prev_frame_loss_waypoint_0: 0.2493, prev_frame_loss_rl_bc_0: 0.0271, loss: 1.5846, grad_norm: 80.0993, il_score_sum: 59.8201, rl_score_sum: 60.9487, score_diff: -1.1287, il_win: 66.3750, rl_win: 70.6250
2025-09-24 05:34:36,980 - mmdet - INFO - Epoch [7][860/3517]	lr: 4.268e-05, eta: 13:56:45, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0129, loss_waypoint: 0.2442, debug_std_frame_0: 0.2779, debug_std_frame_1: 0.3174, debug_std_frame_2: 0.3741, debug_std_frame_3: 0.4367, debug_std_frame_4: 0.5051, debug_std_frame_5: 0.5761, loss_rl: -0.1953, loss_critic: 1.2227, loss_rl_bc: 0.0238, il_score: 0.5650, rl_score: 0.6127, prev_frame_loss_waypoint_0: 0.2764, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.6108, grad_norm: 79.7532, il_score_sum: 59.8201, rl_score_sum: 60.9487, score_diff: -1.1287, il_win: 66.3750, rl_win: 70.6250
2025-09-24 05:34:53,143 - mmdet - INFO - Epoch [7][880/3517]	lr: 4.268e-05, eta: 13:56:29, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2203, debug_std_frame_0: 0.2750, debug_std_frame_1: 0.3102, debug_std_frame_2: 0.3660, debug_std_frame_3: 0.4276, debug_std_frame_4: 0.4927, debug_std_frame_5: 0.5601, loss_rl: -0.1786, loss_critic: 1.0588, loss_rl_bc: 0.0222, il_score: 0.6142, rl_score: 0.6199, prev_frame_loss_waypoint_0: 0.2428, prev_frame_loss_rl_bc_0: 0.0243, loss: 1.4032, grad_norm: 52.7820, il_score_sum: 59.8201, rl_score_sum: 60.9487, score_diff: -1.1287, il_win: 66.3750, rl_win: 70.6250
2025-09-24 05:35:09,368 - mmdet - INFO - Epoch [7][900/3517]	lr: 4.268e-05, eta: 13:56:13, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0128, loss_waypoint: 0.1955, debug_std_frame_0: 0.2756, debug_std_frame_1: 0.3091, debug_std_frame_2: 0.3611, debug_std_frame_3: 0.4170, debug_std_frame_4: 0.4786, debug_std_frame_5: 0.5438, loss_rl: -0.2163, loss_critic: 1.1922, loss_rl_bc: 0.0185, il_score: 0.6194, rl_score: 0.6250, prev_frame_loss_waypoint_0: 0.1989, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.4186, grad_norm: 59.3036, il_score_sum: 59.9126, rl_score_sum: 61.0355, score_diff: -1.1229, il_win: 66.4444, rl_win: 71.0000
2025-09-24 05:35:25,285 - mmdet - INFO - Epoch [7][920/3517]	lr: 4.268e-05, eta: 13:55:57, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0121, loss_waypoint: 0.2145, debug_std_frame_0: 0.2712, debug_std_frame_1: 0.3042, debug_std_frame_2: 0.3556, debug_std_frame_3: 0.4072, debug_std_frame_4: 0.4637, debug_std_frame_5: 0.5227, loss_rl: -0.2259, loss_critic: 1.6470, loss_rl_bc: 0.0191, il_score: 0.6469, rl_score: 0.6684, prev_frame_loss_waypoint_0: 0.2100, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.8912, grad_norm: 66.5067, il_score_sum: 59.9126, rl_score_sum: 61.0355, score_diff: -1.1229, il_win: 66.4444, rl_win: 71.0000
2025-09-24 05:35:41,560 - mmdet - INFO - Epoch [7][940/3517]	lr: 4.268e-05, eta: 13:55:41, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.2310, debug_std_frame_0: 0.2491, debug_std_frame_1: 0.2797, debug_std_frame_2: 0.3300, debug_std_frame_3: 0.3827, debug_std_frame_4: 0.4391, debug_std_frame_5: 0.5027, loss_rl: -0.2178, loss_critic: 1.2847, loss_rl_bc: 0.0188, il_score: 0.6023, rl_score: 0.6423, prev_frame_loss_waypoint_0: 0.2404, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.5879, grad_norm: 63.4979, il_score_sum: 59.9126, rl_score_sum: 61.0355, score_diff: -1.1229, il_win: 66.4444, rl_win: 71.0000
2025-09-24 05:35:57,546 - mmdet - INFO - Epoch [7][960/3517]	lr: 4.268e-05, eta: 13:55:25, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.2443, debug_std_frame_0: 0.2496, debug_std_frame_1: 0.2879, debug_std_frame_2: 0.3499, debug_std_frame_3: 0.4108, debug_std_frame_4: 0.4721, debug_std_frame_5: 0.5430, loss_rl: -0.2401, loss_critic: 1.6486, loss_rl_bc: 0.0253, il_score: 0.5642, rl_score: 0.5975, prev_frame_loss_waypoint_0: 0.2415, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.9514, grad_norm: 64.9314, il_score_sum: 59.9126, rl_score_sum: 61.0355, score_diff: -1.1229, il_win: 66.4444, rl_win: 71.0000
2025-09-24 05:36:13,492 - mmdet - INFO - Epoch [7][980/3517]	lr: 4.268e-05, eta: 13:55:09, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0125, loss_waypoint: 0.2276, debug_std_frame_0: 0.2501, debug_std_frame_1: 0.2868, debug_std_frame_2: 0.3506, debug_std_frame_3: 0.4149, debug_std_frame_4: 0.4800, debug_std_frame_5: 0.5525, loss_rl: -0.1821, loss_critic: 1.0194, loss_rl_bc: 0.0202, il_score: 0.6548, rl_score: 0.6651, prev_frame_loss_waypoint_0: 0.2365, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.3537, grad_norm: 83.4523, il_score_sum: 59.9126, rl_score_sum: 61.0355, score_diff: -1.1229, il_win: 66.4444, rl_win: 71.0000
2025-09-24 05:36:29,645 - mmdet - INFO - Epoch [7][1000/3517]	lr: 4.268e-05, eta: 13:54:53, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2506, debug_std_frame_0: 0.2539, debug_std_frame_1: 0.2904, debug_std_frame_2: 0.3500, debug_std_frame_3: 0.4108, debug_std_frame_4: 0.4746, debug_std_frame_5: 0.5407, loss_rl: -0.1477, loss_critic: 1.5497, loss_rl_bc: 0.0337, il_score: 0.5732, rl_score: 0.5522, prev_frame_loss_waypoint_0: 0.2637, prev_frame_loss_rl_bc_0: 0.0383, loss: 2.0016, grad_norm: 91.9472, il_score_sum: 59.9996, rl_score_sum: 61.1901, score_diff: -1.1905, il_win: 66.5000, rl_win: 71.4000
2025-09-24 05:36:45,409 - mmdet - INFO - Epoch [7][1020/3517]	lr: 4.268e-05, eta: 13:54:36, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2022, debug_std_frame_0: 0.2895, debug_std_frame_1: 0.3273, debug_std_frame_2: 0.3822, debug_std_frame_3: 0.4405, debug_std_frame_4: 0.4958, debug_std_frame_5: 0.5553, loss_rl: -0.2214, loss_critic: 1.4551, loss_rl_bc: 0.0216, il_score: 0.6056, rl_score: 0.5890, prev_frame_loss_waypoint_0: 0.2080, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.7003, grad_norm: 57.8775, il_score_sum: 59.9996, rl_score_sum: 61.1901, score_diff: -1.1905, il_win: 66.5000, rl_win: 71.4000
2025-09-24 05:37:01,285 - mmdet - INFO - Epoch [7][1040/3517]	lr: 4.268e-05, eta: 13:54:19, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0134, loss_waypoint: 0.1893, debug_std_frame_0: 0.2768, debug_std_frame_1: 0.3078, debug_std_frame_2: 0.3539, debug_std_frame_3: 0.4029, debug_std_frame_4: 0.4457, debug_std_frame_5: 0.4980, loss_rl: -0.2233, loss_critic: 1.4860, loss_rl_bc: 0.0234, il_score: 0.6370, rl_score: 0.6280, prev_frame_loss_waypoint_0: 0.1763, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.6850, grad_norm: 36.5512, il_score_sum: 59.9996, rl_score_sum: 61.1901, score_diff: -1.1905, il_win: 66.5000, rl_win: 71.4000
2025-09-24 05:37:17,230 - mmdet - INFO - Epoch [7][1060/3517]	lr: 4.268e-05, eta: 13:54:03, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0122, loss_waypoint: 0.2176, debug_std_frame_0: 0.2908, debug_std_frame_1: 0.3255, debug_std_frame_2: 0.3773, debug_std_frame_3: 0.4311, debug_std_frame_4: 0.4795, debug_std_frame_5: 0.5447, loss_rl: -0.1755, loss_critic: 1.1144, loss_rl_bc: 0.0202, il_score: 0.6057, rl_score: 0.6013, prev_frame_loss_waypoint_0: 0.2305, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.4425, grad_norm: 47.7472, il_score_sum: 59.9996, rl_score_sum: 61.1901, score_diff: -1.1905, il_win: 66.5000, rl_win: 71.4000
2025-09-24 05:37:33,093 - mmdet - INFO - Epoch [7][1080/3517]	lr: 4.268e-05, eta: 13:53:46, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0127, loss_waypoint: 0.2261, debug_std_frame_0: 0.2758, debug_std_frame_1: 0.3090, debug_std_frame_2: 0.3626, debug_std_frame_3: 0.4174, debug_std_frame_4: 0.4711, debug_std_frame_5: 0.5341, loss_rl: -0.1853, loss_critic: 1.2448, loss_rl_bc: 0.0236, il_score: 0.5853, rl_score: 0.5923, prev_frame_loss_waypoint_0: 0.2500, prev_frame_loss_rl_bc_0: 0.0266, loss: 1.5984, grad_norm: 72.2563, il_score_sum: 59.9996, rl_score_sum: 61.1901, score_diff: -1.1905, il_win: 66.5000, rl_win: 71.4000
2025-09-24 05:37:49,343 - mmdet - INFO - Epoch [7][1100/3517]	lr: 4.268e-05, eta: 13:53:30, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0123, loss_waypoint: 0.2134, debug_std_frame_0: 0.2747, debug_std_frame_1: 0.3133, debug_std_frame_2: 0.3711, debug_std_frame_3: 0.4376, debug_std_frame_4: 0.5011, debug_std_frame_5: 0.5699, loss_rl: -0.1932, loss_critic: 1.1688, loss_rl_bc: 0.0213, il_score: 0.6039, rl_score: 0.6065, prev_frame_loss_waypoint_0: 0.2329, prev_frame_loss_rl_bc_0: 0.0244, loss: 1.4800, grad_norm: 59.0011, il_score_sum: 60.0567, rl_score_sum: 61.1098, score_diff: -1.0531, il_win: 66.5455, rl_win: 71.7273
2025-09-24 05:38:05,201 - mmdet - INFO - Epoch [7][1120/3517]	lr: 4.268e-05, eta: 13:53:14, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2640, debug_std_frame_0: 0.2970, debug_std_frame_1: 0.3275, debug_std_frame_2: 0.3771, debug_std_frame_3: 0.4359, debug_std_frame_4: 0.4935, debug_std_frame_5: 0.5619, loss_rl: -0.1890, loss_critic: 1.1720, loss_rl_bc: 0.0298, il_score: 0.5507, rl_score: 0.5757, prev_frame_loss_waypoint_0: 0.2712, prev_frame_loss_rl_bc_0: 0.0273, loss: 1.5883, grad_norm: 93.6774, il_score_sum: 60.0567, rl_score_sum: 61.1098, score_diff: -1.0531, il_win: 66.5455, rl_win: 71.7273
2025-09-24 05:38:21,180 - mmdet - INFO - Epoch [7][1140/3517]	lr: 4.268e-05, eta: 13:52:57, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2260, debug_std_frame_0: 0.2969, debug_std_frame_1: 0.3244, debug_std_frame_2: 0.3713, debug_std_frame_3: 0.4311, debug_std_frame_4: 0.4916, debug_std_frame_5: 0.5561, loss_rl: -0.1905, loss_critic: 1.3210, loss_rl_bc: 0.0248, il_score: 0.6014, rl_score: 0.5913, prev_frame_loss_waypoint_0: 0.2471, prev_frame_loss_rl_bc_0: 0.0318, loss: 1.6738, grad_norm: 69.9471, il_score_sum: 60.0567, rl_score_sum: 61.1098, score_diff: -1.0531, il_win: 66.5455, rl_win: 71.7273
2025-09-24 05:38:37,096 - mmdet - INFO - Epoch [7][1160/3517]	lr: 4.268e-05, eta: 13:52:41, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0124, loss_waypoint: 0.2263, debug_std_frame_0: 0.3003, debug_std_frame_1: 0.3295, debug_std_frame_2: 0.3776, debug_std_frame_3: 0.4337, debug_std_frame_4: 0.4924, debug_std_frame_5: 0.5600, loss_rl: -0.2355, loss_critic: 1.3195, loss_rl_bc: 0.0195, il_score: 0.6130, rl_score: 0.6119, prev_frame_loss_waypoint_0: 0.2200, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.5822, grad_norm: 67.8575, il_score_sum: 60.0567, rl_score_sum: 61.1098, score_diff: -1.0531, il_win: 66.5455, rl_win: 71.7273
2025-09-24 05:38:53,050 - mmdet - INFO - Epoch [7][1180/3517]	lr: 4.268e-05, eta: 13:52:24, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.2518, debug_std_frame_0: 0.2832, debug_std_frame_1: 0.3147, debug_std_frame_2: 0.3699, debug_std_frame_3: 0.4295, debug_std_frame_4: 0.4883, debug_std_frame_5: 0.5558, loss_rl: -0.2290, loss_critic: 1.3667, loss_rl_bc: 0.0247, il_score: 0.5599, rl_score: 0.5834, prev_frame_loss_waypoint_0: 0.2559, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.7053, grad_norm: 71.1768, il_score_sum: 60.0567, rl_score_sum: 61.1098, score_diff: -1.0531, il_win: 66.5455, rl_win: 71.7273
2025-09-24 05:39:09,286 - mmdet - INFO - Epoch [7][1200/3517]	lr: 4.268e-05, eta: 13:52:09, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.2229, debug_std_frame_0: 0.2740, debug_std_frame_1: 0.3057, debug_std_frame_2: 0.3689, debug_std_frame_3: 0.4337, debug_std_frame_4: 0.5028, debug_std_frame_5: 0.5740, loss_rl: -0.1832, loss_critic: 1.2651, loss_rl_bc: 0.0224, il_score: 0.6014, rl_score: 0.5930, prev_frame_loss_waypoint_0: 0.2521, prev_frame_loss_rl_bc_0: 0.0268, loss: 1.6207, grad_norm: 65.2238, il_score_sum: 59.9441, rl_score_sum: 60.9447, score_diff: -1.0007, il_win: 66.5833, rl_win: 72.0000
2025-09-24 05:39:24,959 - mmdet - INFO - Epoch [7][1220/3517]	lr: 4.268e-05, eta: 13:51:51, time: 0.783, data_time: 0.013, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.2090, debug_std_frame_0: 0.2945, debug_std_frame_1: 0.3255, debug_std_frame_2: 0.3801, debug_std_frame_3: 0.4372, debug_std_frame_4: 0.4967, debug_std_frame_5: 0.5632, loss_rl: -0.2075, loss_critic: 1.2816, loss_rl_bc: 0.0283, il_score: 0.6118, rl_score: 0.5966, prev_frame_loss_waypoint_0: 0.2314, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.5805, grad_norm: 52.4933, il_score_sum: 59.9441, rl_score_sum: 60.9447, score_diff: -1.0007, il_win: 66.5833, rl_win: 72.0000
2025-09-24 05:39:40,803 - mmdet - INFO - Epoch [7][1240/3517]	lr: 4.268e-05, eta: 13:51:35, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.2245, debug_std_frame_0: 0.2929, debug_std_frame_1: 0.3262, debug_std_frame_2: 0.3799, debug_std_frame_3: 0.4387, debug_std_frame_4: 0.5017, debug_std_frame_5: 0.5678, loss_rl: -0.2238, loss_critic: 1.4662, loss_rl_bc: 0.0174, il_score: 0.5950, rl_score: 0.6462, prev_frame_loss_waypoint_0: 0.2196, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.7421, grad_norm: 67.2946, il_score_sum: 59.9441, rl_score_sum: 60.9447, score_diff: -1.0007, il_win: 66.5833, rl_win: 72.0000
2025-09-24 05:39:56,786 - mmdet - INFO - Epoch [7][1260/3517]	lr: 4.268e-05, eta: 13:51:18, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.1941, debug_std_frame_0: 0.2918, debug_std_frame_1: 0.3199, debug_std_frame_2: 0.3693, debug_std_frame_3: 0.4229, debug_std_frame_4: 0.4813, debug_std_frame_5: 0.5519, loss_rl: -0.2569, loss_critic: 1.2686, loss_rl_bc: 0.0141, il_score: 0.6616, rl_score: 0.6592, prev_frame_loss_waypoint_0: 0.2322, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.4893, grad_norm: 49.4591, il_score_sum: 59.9441, rl_score_sum: 60.9447, score_diff: -1.0007, il_win: 66.5833, rl_win: 72.0000
2025-09-24 05:40:12,735 - mmdet - INFO - Epoch [7][1280/3517]	lr: 4.268e-05, eta: 13:51:02, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0147, loss_waypoint: 0.2222, debug_std_frame_0: 0.2816, debug_std_frame_1: 0.3134, debug_std_frame_2: 0.3685, debug_std_frame_3: 0.4248, debug_std_frame_4: 0.4807, debug_std_frame_5: 0.5499, loss_rl: -0.1803, loss_critic: 1.4032, loss_rl_bc: 0.0204, il_score: 0.6046, rl_score: 0.6127, prev_frame_loss_waypoint_0: 0.2470, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.7523, grad_norm: 58.7073, il_score_sum: 59.9441, rl_score_sum: 60.9447, score_diff: -1.0007, il_win: 66.5833, rl_win: 72.0000
2025-09-24 05:40:28,891 - mmdet - INFO - Epoch [7][1300/3517]	lr: 4.268e-05, eta: 13:50:46, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2476, debug_std_frame_0: 0.2801, debug_std_frame_1: 0.3110, debug_std_frame_2: 0.3657, debug_std_frame_3: 0.4188, debug_std_frame_4: 0.4721, debug_std_frame_5: 0.5355, loss_rl: -0.2149, loss_critic: 1.3646, loss_rl_bc: 0.0230, il_score: 0.5494, rl_score: 0.6012, prev_frame_loss_waypoint_0: 0.2771, prev_frame_loss_rl_bc_0: 0.0290, loss: 1.7422, grad_norm: 80.4673, il_score_sum: 59.9934, rl_score_sum: 61.0587, score_diff: -1.0653, il_win: 66.6154, rl_win: 72.3077
2025-09-24 05:40:44,726 - mmdet - INFO - Epoch [7][1320/3517]	lr: 4.268e-05, eta: 13:50:29, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0149, loss_waypoint: 0.1799, debug_std_frame_0: 0.2841, debug_std_frame_1: 0.3193, debug_std_frame_2: 0.3742, debug_std_frame_3: 0.4312, debug_std_frame_4: 0.4880, debug_std_frame_5: 0.5544, loss_rl: -0.1746, loss_critic: 1.2936, loss_rl_bc: 0.0245, il_score: 0.6441, rl_score: 0.6091, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0233, loss: 1.5695, grad_norm: 45.6998, il_score_sum: 59.9934, rl_score_sum: 61.0587, score_diff: -1.0653, il_win: 66.6154, rl_win: 72.3077
2025-09-24 05:41:00,734 - mmdet - INFO - Epoch [7][1340/3517]	lr: 4.268e-05, eta: 13:50:13, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0143, loss_waypoint: 0.2027, debug_std_frame_0: 0.3018, debug_std_frame_1: 0.3327, debug_std_frame_2: 0.3805, debug_std_frame_3: 0.4342, debug_std_frame_4: 0.4877, debug_std_frame_5: 0.5503, loss_rl: -0.2093, loss_critic: 1.1861, loss_rl_bc: 0.0206, il_score: 0.6262, rl_score: 0.6097, prev_frame_loss_waypoint_0: 0.2255, prev_frame_loss_rl_bc_0: 0.0259, loss: 1.4658, grad_norm: 53.1584, il_score_sum: 59.9934, rl_score_sum: 61.0587, score_diff: -1.0653, il_win: 66.6154, rl_win: 72.3077
2025-09-24 05:41:17,006 - mmdet - INFO - Epoch [7][1360/3517]	lr: 4.268e-05, eta: 13:49:57, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2135, debug_std_frame_0: 0.2843, debug_std_frame_1: 0.3149, debug_std_frame_2: 0.3629, debug_std_frame_3: 0.4155, debug_std_frame_4: 0.4689, debug_std_frame_5: 0.5322, loss_rl: -0.2421, loss_critic: 1.1664, loss_rl_bc: 0.0139, il_score: 0.6153, rl_score: 0.6492, prev_frame_loss_waypoint_0: 0.2299, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.4128, grad_norm: 70.5426, il_score_sum: 59.9934, rl_score_sum: 61.0587, score_diff: -1.0653, il_win: 66.6154, rl_win: 72.3077
2025-09-24 05:41:33,035 - mmdet - INFO - Epoch [7][1380/3517]	lr: 4.268e-05, eta: 13:49:41, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.2233, debug_std_frame_0: 0.2663, debug_std_frame_1: 0.2996, debug_std_frame_2: 0.3555, debug_std_frame_3: 0.4131, debug_std_frame_4: 0.4725, debug_std_frame_5: 0.5391, loss_rl: -0.2183, loss_critic: 1.4300, loss_rl_bc: 0.0183, il_score: 0.5839, rl_score: 0.6111, prev_frame_loss_waypoint_0: 0.2340, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.7208, grad_norm: 59.5159, il_score_sum: 59.9934, rl_score_sum: 61.0587, score_diff: -1.0653, il_win: 66.6154, rl_win: 72.3077
2025-09-24 05:41:49,214 - mmdet - INFO - Epoch [7][1400/3517]	lr: 4.268e-05, eta: 13:49:25, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.2165, debug_std_frame_0: 0.2481, debug_std_frame_1: 0.2804, debug_std_frame_2: 0.3371, debug_std_frame_3: 0.3930, debug_std_frame_4: 0.4494, debug_std_frame_5: 0.5115, loss_rl: -0.1950, loss_critic: 1.3785, loss_rl_bc: 0.0209, il_score: 0.5803, rl_score: 0.5860, prev_frame_loss_waypoint_0: 0.2378, prev_frame_loss_rl_bc_0: 0.0300, loss: 1.7031, grad_norm: 56.2652, il_score_sum: 60.0536, rl_score_sum: 61.0658, score_diff: -1.0122, il_win: 66.6429, rl_win: 72.5714
2025-09-24 05:42:05,078 - mmdet - INFO - Epoch [7][1420/3517]	lr: 4.268e-05, eta: 13:49:09, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2336, debug_std_frame_0: 0.2981, debug_std_frame_1: 0.3368, debug_std_frame_2: 0.3971, debug_std_frame_3: 0.4576, debug_std_frame_4: 0.5155, debug_std_frame_5: 0.5739, loss_rl: -0.1449, loss_critic: 1.3136, loss_rl_bc: 0.0368, il_score: 0.5897, rl_score: 0.5426, prev_frame_loss_waypoint_0: 0.2390, prev_frame_loss_rl_bc_0: 0.0379, loss: 1.7295, grad_norm: 71.7572, il_score_sum: 60.0536, rl_score_sum: 61.0658, score_diff: -1.0122, il_win: 66.6429, rl_win: 72.5714
2025-09-24 05:42:21,097 - mmdet - INFO - Epoch [7][1440/3517]	lr: 4.268e-05, eta: 13:48:53, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2247, debug_std_frame_0: 0.3319, debug_std_frame_1: 0.3735, debug_std_frame_2: 0.4302, debug_std_frame_3: 0.4835, debug_std_frame_4: 0.5363, debug_std_frame_5: 0.5874, loss_rl: -0.1873, loss_critic: 1.2097, loss_rl_bc: 0.0283, il_score: 0.5877, rl_score: 0.5798, prev_frame_loss_waypoint_0: 0.2399, prev_frame_loss_rl_bc_0: 0.0306, loss: 1.5598, grad_norm: 64.1969, il_score_sum: 60.0536, rl_score_sum: 61.0658, score_diff: -1.0122, il_win: 66.6429, rl_win: 72.5714
2025-09-24 05:42:37,176 - mmdet - INFO - Epoch [7][1460/3517]	lr: 4.268e-05, eta: 13:48:36, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2218, debug_std_frame_0: 0.3466, debug_std_frame_1: 0.3816, debug_std_frame_2: 0.4367, debug_std_frame_3: 0.4949, debug_std_frame_4: 0.5541, debug_std_frame_5: 0.6071, loss_rl: -0.1587, loss_critic: 1.3217, loss_rl_bc: 0.0404, il_score: 0.6396, rl_score: 0.5758, prev_frame_loss_waypoint_0: 0.2325, prev_frame_loss_rl_bc_0: 0.0405, loss: 1.7122, grad_norm: 57.0592, il_score_sum: 60.0536, rl_score_sum: 61.0658, score_diff: -1.0122, il_win: 66.6429, rl_win: 72.5714
2025-09-24 05:42:53,067 - mmdet - INFO - Epoch [7][1480/3517]	lr: 4.268e-05, eta: 13:48:20, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.2033, debug_std_frame_0: 0.3659, debug_std_frame_1: 0.3916, debug_std_frame_2: 0.4403, debug_std_frame_3: 0.4944, debug_std_frame_4: 0.5422, debug_std_frame_5: 0.5903, loss_rl: -0.2111, loss_critic: 1.3810, loss_rl_bc: 0.0255, il_score: 0.6168, rl_score: 0.5971, prev_frame_loss_waypoint_0: 0.1963, prev_frame_loss_rl_bc_0: 0.0291, loss: 1.6384, grad_norm: 64.4478, il_score_sum: 60.0536, rl_score_sum: 61.0658, score_diff: -1.0122, il_win: 66.6429, rl_win: 72.5714
2025-09-24 05:43:09,147 - mmdet - INFO - Epoch [7][1500/3517]	lr: 4.268e-05, eta: 13:48:04, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0130, loss_waypoint: 0.2332, debug_std_frame_0: 0.3329, debug_std_frame_1: 0.3620, debug_std_frame_2: 0.4147, debug_std_frame_3: 0.4735, debug_std_frame_4: 0.5287, debug_std_frame_5: 0.5810, loss_rl: -0.2072, loss_critic: 1.2251, loss_rl_bc: 0.0210, il_score: 0.5845, rl_score: 0.5992, prev_frame_loss_waypoint_0: 0.2572, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.5675, grad_norm: 77.4050, il_score_sum: 60.0755, rl_score_sum: 60.8518, score_diff: -0.7763, il_win: 66.7333, rl_win: 72.8000
2025-09-24 05:43:24,992 - mmdet - INFO - Epoch [7][1520/3517]	lr: 4.268e-05, eta: 13:47:47, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0126, loss_waypoint: 0.1923, debug_std_frame_0: 0.3058, debug_std_frame_1: 0.3376, debug_std_frame_2: 0.3971, debug_std_frame_3: 0.4544, debug_std_frame_4: 0.5137, debug_std_frame_5: 0.5664, loss_rl: -0.1854, loss_critic: 1.1861, loss_rl_bc: 0.0202, il_score: 0.6305, rl_score: 0.6069, prev_frame_loss_waypoint_0: 0.2387, prev_frame_loss_rl_bc_0: 0.0490, loss: 1.5136, grad_norm: 69.7378, il_score_sum: 60.0755, rl_score_sum: 60.8518, score_diff: -0.7763, il_win: 66.7333, rl_win: 72.8000
2025-09-24 05:43:41,046 - mmdet - INFO - Epoch [7][1540/3517]	lr: 4.268e-05, eta: 13:47:31, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0143, loss_waypoint: 0.2385, debug_std_frame_0: 0.2984, debug_std_frame_1: 0.3228, debug_std_frame_2: 0.3766, debug_std_frame_3: 0.4311, debug_std_frame_4: 0.4844, debug_std_frame_5: 0.5352, loss_rl: -0.2219, loss_critic: 1.6029, loss_rl_bc: 0.0228, il_score: 0.6038, rl_score: 0.6402, prev_frame_loss_waypoint_0: 0.2423, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.9206, grad_norm: 92.3781, il_score_sum: 60.0755, rl_score_sum: 60.8518, score_diff: -0.7763, il_win: 66.7333, rl_win: 72.8000
2025-09-24 05:43:56,912 - mmdet - INFO - Epoch [7][1560/3517]	lr: 4.268e-05, eta: 13:47:14, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.1824, debug_std_frame_0: 0.2696, debug_std_frame_1: 0.2931, debug_std_frame_2: 0.3398, debug_std_frame_3: 0.3878, debug_std_frame_4: 0.4334, debug_std_frame_5: 0.4815, loss_rl: -0.2372, loss_critic: 1.7095, loss_rl_bc: 0.0163, il_score: 0.6327, rl_score: 0.6415, prev_frame_loss_waypoint_0: 0.2064, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.9068, grad_norm: 41.1541, il_score_sum: 60.0755, rl_score_sum: 60.8518, score_diff: -0.7763, il_win: 66.7333, rl_win: 72.8000
2025-09-24 05:44:12,790 - mmdet - INFO - Epoch [7][1580/3517]	lr: 4.268e-05, eta: 13:46:58, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2302, debug_std_frame_0: 0.2846, debug_std_frame_1: 0.3134, debug_std_frame_2: 0.3698, debug_std_frame_3: 0.4229, debug_std_frame_4: 0.4772, debug_std_frame_5: 0.5308, loss_rl: -0.2021, loss_critic: 1.4586, loss_rl_bc: 0.0307, il_score: 0.6099, rl_score: 0.6166, prev_frame_loss_waypoint_0: 0.2413, prev_frame_loss_rl_bc_0: 0.0324, loss: 1.8046, grad_norm: 60.6425, il_score_sum: 60.0755, rl_score_sum: 60.8518, score_diff: -0.7763, il_win: 66.7333, rl_win: 72.8000
2025-09-24 05:44:29,028 - mmdet - INFO - Epoch [7][1600/3517]	lr: 4.268e-05, eta: 13:46:42, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0134, loss_waypoint: 0.2296, debug_std_frame_0: 0.3161, debug_std_frame_1: 0.3448, debug_std_frame_2: 0.4004, debug_std_frame_3: 0.4554, debug_std_frame_4: 0.5137, debug_std_frame_5: 0.5711, loss_rl: -0.1914, loss_critic: 1.0730, loss_rl_bc: 0.0227, il_score: 0.6178, rl_score: 0.6321, prev_frame_loss_waypoint_0: 0.2430, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.4168, grad_norm: 52.8437, il_score_sum: 60.1883, rl_score_sum: 60.9701, score_diff: -0.7818, il_win: 66.8125, rl_win: 73.0000
2025-09-24 05:44:44,710 - mmdet - INFO - Epoch [7][1620/3517]	lr: 4.268e-05, eta: 13:46:25, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2654, debug_std_frame_0: 0.2940, debug_std_frame_1: 0.3259, debug_std_frame_2: 0.3870, debug_std_frame_3: 0.4471, debug_std_frame_4: 0.5063, debug_std_frame_5: 0.5682, loss_rl: -0.2280, loss_critic: 1.0334, loss_rl_bc: 0.0173, il_score: 0.5825, rl_score: 0.6616, prev_frame_loss_waypoint_0: 0.2857, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.4061, grad_norm: 96.0368, il_score_sum: 60.1883, rl_score_sum: 60.9701, score_diff: -0.7818, il_win: 66.8125, rl_win: 73.0000
2025-09-24 05:45:00,552 - mmdet - INFO - Epoch [7][1640/3517]	lr: 4.268e-05, eta: 13:46:08, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.2254, debug_std_frame_0: 0.2793, debug_std_frame_1: 0.3095, debug_std_frame_2: 0.3693, debug_std_frame_3: 0.4278, debug_std_frame_4: 0.4879, debug_std_frame_5: 0.5509, loss_rl: -0.2218, loss_critic: 1.3208, loss_rl_bc: 0.0199, il_score: 0.5880, rl_score: 0.6201, prev_frame_loss_waypoint_0: 0.2529, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.6332, grad_norm: 65.2242, il_score_sum: 60.1883, rl_score_sum: 60.9701, score_diff: -0.7818, il_win: 66.8125, rl_win: 73.0000
2025-09-24 05:45:16,406 - mmdet - INFO - Epoch [7][1660/3517]	lr: 4.268e-05, eta: 13:45:51, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.2001, debug_std_frame_0: 0.2566, debug_std_frame_1: 0.2844, debug_std_frame_2: 0.3425, debug_std_frame_3: 0.4003, debug_std_frame_4: 0.4596, debug_std_frame_5: 0.5180, loss_rl: -0.2694, loss_critic: 1.5077, loss_rl_bc: 0.0143, il_score: 0.6216, rl_score: 0.6641, prev_frame_loss_waypoint_0: 0.2036, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.6881, grad_norm: 60.0052, il_score_sum: 60.1883, rl_score_sum: 60.9701, score_diff: -0.7818, il_win: 66.8125, rl_win: 73.0000
2025-09-24 05:45:32,362 - mmdet - INFO - Epoch [7][1680/3517]	lr: 4.268e-05, eta: 13:45:35, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0152, loss_waypoint: 0.2027, debug_std_frame_0: 0.2620, debug_std_frame_1: 0.2949, debug_std_frame_2: 0.3565, debug_std_frame_3: 0.4237, debug_std_frame_4: 0.4867, debug_std_frame_5: 0.5542, loss_rl: -0.1583, loss_critic: 1.3634, loss_rl_bc: 0.0197, il_score: 0.5877, rl_score: 0.5933, prev_frame_loss_waypoint_0: 0.2706, prev_frame_loss_rl_bc_0: 0.0286, loss: 1.7419, grad_norm: 75.5981, il_score_sum: 60.1883, rl_score_sum: 60.9701, score_diff: -0.7818, il_win: 66.8125, rl_win: 73.0000
2025-09-24 05:45:48,538 - mmdet - INFO - Epoch [7][1700/3517]	lr: 4.268e-05, eta: 13:45:19, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0149, loss_waypoint: 0.2359, debug_std_frame_0: 0.2635, debug_std_frame_1: 0.2980, debug_std_frame_2: 0.3559, debug_std_frame_3: 0.4205, debug_std_frame_4: 0.4787, debug_std_frame_5: 0.5482, loss_rl: -0.2064, loss_critic: 1.3173, loss_rl_bc: 0.0182, il_score: 0.5923, rl_score: 0.6368, prev_frame_loss_waypoint_0: 0.2585, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.6574, grad_norm: 71.7520, il_score_sum: 60.1406, rl_score_sum: 61.1161, score_diff: -0.9755, il_win: 66.8824, rl_win: 73.2353
2025-09-24 05:46:04,209 - mmdet - INFO - Epoch [7][1720/3517]	lr: 4.268e-05, eta: 13:45:02, time: 0.783, data_time: 0.012, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.2219, debug_std_frame_0: 0.2593, debug_std_frame_1: 0.2892, debug_std_frame_2: 0.3404, debug_std_frame_3: 0.3978, debug_std_frame_4: 0.4493, debug_std_frame_5: 0.5081, loss_rl: -0.2443, loss_critic: 1.3215, loss_rl_bc: 0.0228, il_score: 0.6368, rl_score: 0.6538, prev_frame_loss_waypoint_0: 0.2188, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.5696, grad_norm: 68.0819, il_score_sum: 60.1406, rl_score_sum: 61.1161, score_diff: -0.9755, il_win: 66.8824, rl_win: 73.2353
2025-09-24 05:46:20,140 - mmdet - INFO - Epoch [7][1740/3517]	lr: 4.268e-05, eta: 13:44:46, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.2046, debug_std_frame_0: 0.2404, debug_std_frame_1: 0.2691, debug_std_frame_2: 0.3179, debug_std_frame_3: 0.3774, debug_std_frame_4: 0.4295, debug_std_frame_5: 0.4958, loss_rl: -0.2165, loss_critic: 1.1681, loss_rl_bc: 0.0134, il_score: 0.6001, rl_score: 0.6325, prev_frame_loss_waypoint_0: 0.2196, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.4183, grad_norm: 63.9158, il_score_sum: 60.1406, rl_score_sum: 61.1161, score_diff: -0.9755, il_win: 66.8824, rl_win: 73.2353
2025-09-24 05:46:36,042 - mmdet - INFO - Epoch [7][1760/3517]	lr: 4.268e-05, eta: 13:44:29, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.2560, debug_std_frame_0: 0.2599, debug_std_frame_1: 0.2904, debug_std_frame_2: 0.3414, debug_std_frame_3: 0.4043, debug_std_frame_4: 0.4578, debug_std_frame_5: 0.5193, loss_rl: -0.2013, loss_critic: 1.2787, loss_rl_bc: 0.0217, il_score: 0.5847, rl_score: 0.6101, prev_frame_loss_waypoint_0: 0.2916, prev_frame_loss_rl_bc_0: 0.0267, loss: 1.6890, grad_norm: 85.9356, il_score_sum: 60.1406, rl_score_sum: 61.1161, score_diff: -0.9755, il_win: 66.8824, rl_win: 73.2353
2025-09-24 05:46:51,933 - mmdet - INFO - Epoch [7][1780/3517]	lr: 4.268e-05, eta: 13:44:13, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0151, loss_waypoint: 0.1963, debug_std_frame_0: 0.2632, debug_std_frame_1: 0.2887, debug_std_frame_2: 0.3313, debug_std_frame_3: 0.3842, debug_std_frame_4: 0.4302, debug_std_frame_5: 0.4860, loss_rl: -0.2440, loss_critic: 1.5067, loss_rl_bc: 0.0150, il_score: 0.6227, rl_score: 0.6182, prev_frame_loss_waypoint_0: 0.2042, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.7055, grad_norm: 60.4719, il_score_sum: 60.1406, rl_score_sum: 61.1161, score_diff: -0.9755, il_win: 66.8824, rl_win: 73.2353
2025-09-24 05:47:07,931 - mmdet - INFO - Epoch [7][1800/3517]	lr: 4.268e-05, eta: 13:43:56, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.2695, debug_std_frame_0: 0.2693, debug_std_frame_1: 0.2973, debug_std_frame_2: 0.3448, debug_std_frame_3: 0.3977, debug_std_frame_4: 0.4481, debug_std_frame_5: 0.5069, loss_rl: -0.2104, loss_critic: 1.3687, loss_rl_bc: 0.0232, il_score: 0.5706, rl_score: 0.6341, prev_frame_loss_waypoint_0: 0.2990, prev_frame_loss_rl_bc_0: 0.0273, loss: 1.7913, grad_norm: 95.2527, il_score_sum: 60.1490, rl_score_sum: 61.2165, score_diff: -1.0675, il_win: 66.9444, rl_win: 73.5000
2025-09-24 05:47:23,736 - mmdet - INFO - Epoch [7][1820/3517]	lr: 4.268e-05, eta: 13:43:39, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0148, loss_waypoint: 0.1990, debug_std_frame_0: 0.2697, debug_std_frame_1: 0.3024, debug_std_frame_2: 0.3539, debug_std_frame_3: 0.4102, debug_std_frame_4: 0.4623, debug_std_frame_5: 0.5208, loss_rl: -0.2167, loss_critic: 1.4150, loss_rl_bc: 0.0198, il_score: 0.6261, rl_score: 0.6137, prev_frame_loss_waypoint_0: 0.2338, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.6886, grad_norm: 68.5131, il_score_sum: 60.1490, rl_score_sum: 61.2165, score_diff: -1.0675, il_win: 66.9444, rl_win: 73.5000
2025-09-24 05:47:39,690 - mmdet - INFO - Epoch [7][1840/3517]	lr: 4.268e-05, eta: 13:43:23, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.2282, debug_std_frame_0: 0.2831, debug_std_frame_1: 0.3161, debug_std_frame_2: 0.3722, debug_std_frame_3: 0.4330, debug_std_frame_4: 0.4900, debug_std_frame_5: 0.5485, loss_rl: -0.1815, loss_critic: 1.1736, loss_rl_bc: 0.0263, il_score: 0.5950, rl_score: 0.6006, prev_frame_loss_waypoint_0: 0.2272, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.5106, grad_norm: 73.3518, il_score_sum: 60.1490, rl_score_sum: 61.2165, score_diff: -1.0675, il_win: 66.9444, rl_win: 73.5000
2025-09-24 05:47:55,669 - mmdet - INFO - Epoch [7][1860/3517]	lr: 4.268e-05, eta: 13:43:07, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2056, debug_std_frame_0: 0.2704, debug_std_frame_1: 0.3011, debug_std_frame_2: 0.3524, debug_std_frame_3: 0.4093, debug_std_frame_4: 0.4665, debug_std_frame_5: 0.5295, loss_rl: -0.2179, loss_critic: 1.5272, loss_rl_bc: 0.0202, il_score: 0.5940, rl_score: 0.6309, prev_frame_loss_waypoint_0: 0.2292, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.7978, grad_norm: 66.5587, il_score_sum: 60.1490, rl_score_sum: 61.2165, score_diff: -1.0675, il_win: 66.9444, rl_win: 73.5000
2025-09-24 05:48:11,390 - mmdet - INFO - Epoch [7][1880/3517]	lr: 4.268e-05, eta: 13:42:50, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0137, loss_waypoint: 0.1938, debug_std_frame_0: 0.2478, debug_std_frame_1: 0.2799, debug_std_frame_2: 0.3348, debug_std_frame_3: 0.3969, debug_std_frame_4: 0.4566, debug_std_frame_5: 0.5279, loss_rl: -0.2046, loss_critic: 1.1574, loss_rl_bc: 0.0155, il_score: 0.6460, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2005, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.3904, grad_norm: 59.3521, il_score_sum: 60.1490, rl_score_sum: 61.2165, score_diff: -1.0675, il_win: 66.9444, rl_win: 73.5000
2025-09-24 05:48:27,539 - mmdet - INFO - Epoch [7][1900/3517]	lr: 4.268e-05, eta: 13:42:34, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2431, debug_std_frame_0: 0.2633, debug_std_frame_1: 0.2927, debug_std_frame_2: 0.3433, debug_std_frame_3: 0.4062, debug_std_frame_4: 0.4634, debug_std_frame_5: 0.5285, loss_rl: -0.1561, loss_critic: 1.3736, loss_rl_bc: 0.0331, il_score: 0.6196, rl_score: 0.5903, prev_frame_loss_waypoint_0: 0.2368, prev_frame_loss_rl_bc_0: 0.0308, loss: 1.7751, grad_norm: 82.1894, il_score_sum: 60.2283, rl_score_sum: 61.2471, score_diff: -1.0189, il_win: 67.0000, rl_win: 73.7368
2025-09-24 05:48:43,398 - mmdet - INFO - Epoch [7][1920/3517]	lr: 4.268e-05, eta: 13:42:17, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.2366, debug_std_frame_0: 0.3078, debug_std_frame_1: 0.3434, debug_std_frame_2: 0.3984, debug_std_frame_3: 0.4615, debug_std_frame_4: 0.5200, debug_std_frame_5: 0.5850, loss_rl: -0.1477, loss_critic: 1.3045, loss_rl_bc: 0.0348, il_score: 0.5880, rl_score: 0.5668, prev_frame_loss_waypoint_0: 0.2477, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.7186, grad_norm: 70.0132, il_score_sum: 60.2283, rl_score_sum: 61.2471, score_diff: -1.0189, il_win: 67.0000, rl_win: 73.7368
2025-09-24 05:48:59,376 - mmdet - INFO - Epoch [7][1940/3517]	lr: 4.268e-05, eta: 13:42:01, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0135, loss_waypoint: 0.2115, debug_std_frame_0: 0.3085, debug_std_frame_1: 0.3412, debug_std_frame_2: 0.3917, debug_std_frame_3: 0.4465, debug_std_frame_4: 0.5000, debug_std_frame_5: 0.5588, loss_rl: -0.2619, loss_critic: 1.5037, loss_rl_bc: 0.0213, il_score: 0.6000, rl_score: 0.6074, prev_frame_loss_waypoint_0: 0.2221, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.7316, grad_norm: 60.4065, il_score_sum: 60.2283, rl_score_sum: 61.2471, score_diff: -1.0189, il_win: 67.0000, rl_win: 73.7368
2025-09-24 05:49:15,394 - mmdet - INFO - Epoch [7][1960/3517]	lr: 4.268e-05, eta: 13:41:45, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0131, loss_waypoint: 0.2291, debug_std_frame_0: 0.2840, debug_std_frame_1: 0.3141, debug_std_frame_2: 0.3658, debug_std_frame_3: 0.4203, debug_std_frame_4: 0.4682, debug_std_frame_5: 0.5297, loss_rl: -0.1629, loss_critic: 1.1328, loss_rl_bc: 0.0225, il_score: 0.6139, rl_score: 0.6193, prev_frame_loss_waypoint_0: 0.2371, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.4988, grad_norm: 72.4545, il_score_sum: 60.2283, rl_score_sum: 61.2471, score_diff: -1.0189, il_win: 67.0000, rl_win: 73.7368
2025-09-24 05:49:31,221 - mmdet - INFO - Epoch [7][1980/3517]	lr: 4.268e-05, eta: 13:41:28, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0141, loss_waypoint: 0.1904, debug_std_frame_0: 0.3030, debug_std_frame_1: 0.3319, debug_std_frame_2: 0.3792, debug_std_frame_3: 0.4307, debug_std_frame_4: 0.4809, debug_std_frame_5: 0.5374, loss_rl: -0.1993, loss_critic: 1.1923, loss_rl_bc: 0.0241, il_score: 0.6419, rl_score: 0.6329, prev_frame_loss_waypoint_0: 0.2243, prev_frame_loss_rl_bc_0: 0.0375, loss: 1.4835, grad_norm: 55.5586, il_score_sum: 60.2283, rl_score_sum: 61.2471, score_diff: -1.0189, il_win: 67.0000, rl_win: 73.7368
2025-09-24 05:49:47,434 - mmdet - INFO - Epoch [7][2000/3517]	lr: 4.268e-05, eta: 13:41:12, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.2314, debug_std_frame_0: 0.3430, debug_std_frame_1: 0.3761, debug_std_frame_2: 0.4299, debug_std_frame_3: 0.4908, debug_std_frame_4: 0.5438, debug_std_frame_5: 0.5991, loss_rl: -0.1113, loss_critic: 1.2840, loss_rl_bc: 0.0359, il_score: 0.5938, rl_score: 0.5398, prev_frame_loss_waypoint_0: 0.2498, prev_frame_loss_rl_bc_0: 0.0435, loss: 1.7474, grad_norm: 70.4270, il_score_sum: 60.2459, rl_score_sum: 61.1420, score_diff: -0.8961, il_win: 67.1000, rl_win: 73.9500
2025-09-24 05:50:03,171 - mmdet - INFO - Epoch [7][2020/3517]	lr: 4.268e-05, eta: 13:40:55, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0133, loss_waypoint: 0.2224, debug_std_frame_0: 0.3394, debug_std_frame_1: 0.3656, debug_std_frame_2: 0.4150, debug_std_frame_3: 0.4729, debug_std_frame_4: 0.5281, debug_std_frame_5: 0.5861, loss_rl: -0.2411, loss_critic: 1.4594, loss_rl_bc: 0.0223, il_score: 0.6041, rl_score: 0.6302, prev_frame_loss_waypoint_0: 0.2416, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.7436, grad_norm: 47.7068, il_score_sum: 60.2459, rl_score_sum: 61.1420, score_diff: -0.8961, il_win: 67.1000, rl_win: 73.9500
2025-09-24 05:50:18,930 - mmdet - INFO - Epoch [7][2040/3517]	lr: 4.268e-05, eta: 13:40:38, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.2356, debug_std_frame_0: 0.3195, debug_std_frame_1: 0.3485, debug_std_frame_2: 0.4026, debug_std_frame_3: 0.4670, debug_std_frame_4: 0.5260, debug_std_frame_5: 0.5861, loss_rl: -0.1933, loss_critic: 1.1715, loss_rl_bc: 0.0252, il_score: 0.6077, rl_score: 0.6060, prev_frame_loss_waypoint_0: 0.2427, prev_frame_loss_rl_bc_0: 0.0335, loss: 1.5293, grad_norm: 62.3663, il_score_sum: 60.2459, rl_score_sum: 61.1420, score_diff: -0.8961, il_win: 67.1000, rl_win: 73.9500
2025-09-24 05:50:34,706 - mmdet - INFO - Epoch [7][2060/3517]	lr: 4.268e-05, eta: 13:40:21, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.2242, debug_std_frame_0: 0.2950, debug_std_frame_1: 0.3216, debug_std_frame_2: 0.3746, debug_std_frame_3: 0.4352, debug_std_frame_4: 0.4969, debug_std_frame_5: 0.5638, loss_rl: -0.2070, loss_critic: 1.4210, loss_rl_bc: 0.0223, il_score: 0.5841, rl_score: 0.6342, prev_frame_loss_waypoint_0: 0.2501, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.7444, grad_norm: 61.7926, il_score_sum: 60.2459, rl_score_sum: 61.1420, score_diff: -0.8961, il_win: 67.1000, rl_win: 73.9500
2025-09-24 05:50:50,493 - mmdet - INFO - Epoch [7][2080/3517]	lr: 4.268e-05, eta: 13:40:05, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0150, loss_waypoint: 0.2417, debug_std_frame_0: 0.2722, debug_std_frame_1: 0.3011, debug_std_frame_2: 0.3549, debug_std_frame_3: 0.4156, debug_std_frame_4: 0.4747, debug_std_frame_5: 0.5432, loss_rl: -0.1884, loss_critic: 1.3402, loss_rl_bc: 0.0207, il_score: 0.5461, rl_score: 0.5860, prev_frame_loss_waypoint_0: 0.2657, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.7184, grad_norm: 85.0834, il_score_sum: 60.2459, rl_score_sum: 61.1420, score_diff: -0.8961, il_win: 67.1000, rl_win: 73.9500
2025-09-24 05:51:06,678 - mmdet - INFO - Epoch [7][2100/3517]	lr: 4.268e-05, eta: 13:39:49, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0139, loss_waypoint: 0.2035, debug_std_frame_0: 0.2818, debug_std_frame_1: 0.3160, debug_std_frame_2: 0.3708, debug_std_frame_3: 0.4344, debug_std_frame_4: 0.4984, debug_std_frame_5: 0.5646, loss_rl: -0.2181, loss_critic: 1.2699, loss_rl_bc: 0.0215, il_score: 0.6173, rl_score: 0.6353, prev_frame_loss_waypoint_0: 0.2337, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.5478, grad_norm: 56.6483, il_score_sum: 60.2846, rl_score_sum: 61.2512, score_diff: -0.9666, il_win: 67.2500, rl_win: 74.4500
2025-09-24 05:51:22,464 - mmdet - INFO - Epoch [7][2120/3517]	lr: 4.268e-05, eta: 13:39:32, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2120, debug_std_frame_0: 0.2659, debug_std_frame_1: 0.2963, debug_std_frame_2: 0.3464, debug_std_frame_3: 0.4003, debug_std_frame_4: 0.4606, debug_std_frame_5: 0.5213, loss_rl: -0.2244, loss_critic: 1.2697, loss_rl_bc: 0.0139, il_score: 0.6307, rl_score: 0.6599, prev_frame_loss_waypoint_0: 0.2308, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.5302, grad_norm: 55.4279, il_score_sum: 60.2846, rl_score_sum: 61.2512, score_diff: -0.9666, il_win: 67.2500, rl_win: 74.4500
2025-09-24 05:51:38,344 - mmdet - INFO - Epoch [7][2140/3517]	lr: 4.268e-05, eta: 13:39:15, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2197, debug_std_frame_0: 0.2602, debug_std_frame_1: 0.2859, debug_std_frame_2: 0.3338, debug_std_frame_3: 0.3861, debug_std_frame_4: 0.4422, debug_std_frame_5: 0.5012, loss_rl: -0.1839, loss_critic: 1.4291, loss_rl_bc: 0.0280, il_score: 0.5904, rl_score: 0.6008, prev_frame_loss_waypoint_0: 0.2320, prev_frame_loss_rl_bc_0: 0.0313, loss: 1.7698, grad_norm: 75.6958, il_score_sum: 60.2846, rl_score_sum: 61.2512, score_diff: -0.9666, il_win: 67.2500, rl_win: 74.4500
2025-09-24 05:51:54,729 - mmdet - INFO - Epoch [7][2160/3517]	lr: 4.268e-05, eta: 13:39:00, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2144, debug_std_frame_0: 0.2627, debug_std_frame_1: 0.2977, debug_std_frame_2: 0.3600, debug_std_frame_3: 0.4264, debug_std_frame_4: 0.4936, debug_std_frame_5: 0.5576, loss_rl: -0.1329, loss_critic: 1.1778, loss_rl_bc: 0.0348, il_score: 0.6214, rl_score: 0.5586, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0359, loss: 1.5657, grad_norm: 70.5578, il_score_sum: 60.2846, rl_score_sum: 61.2512, score_diff: -0.9666, il_win: 67.2500, rl_win: 74.4500
2025-09-24 05:52:10,656 - mmdet - INFO - Epoch [7][2180/3517]	lr: 4.268e-05, eta: 13:38:44, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0144, loss_waypoint: 0.2202, debug_std_frame_0: 0.3258, debug_std_frame_1: 0.3563, debug_std_frame_2: 0.4074, debug_std_frame_3: 0.4660, debug_std_frame_4: 0.5311, debug_std_frame_5: 0.5972, loss_rl: -0.1973, loss_critic: 1.1867, loss_rl_bc: 0.0216, il_score: 0.5621, rl_score: 0.5852, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0291, loss: 1.5280, grad_norm: 83.1528, il_score_sum: 60.2846, rl_score_sum: 61.2512, score_diff: -0.9666, il_win: 67.2500, rl_win: 74.4500
2025-09-24 05:52:26,804 - mmdet - INFO - Epoch [7][2200/3517]	lr: 4.268e-05, eta: 13:38:28, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2286, debug_std_frame_0: 0.3237, debug_std_frame_1: 0.3587, debug_std_frame_2: 0.4102, debug_std_frame_3: 0.4636, debug_std_frame_4: 0.5209, debug_std_frame_5: 0.5836, loss_rl: -0.2501, loss_critic: 1.3779, loss_rl_bc: 0.0232, il_score: 0.5909, rl_score: 0.6282, prev_frame_loss_waypoint_0: 0.2556, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.6716, grad_norm: 71.4230, il_score_sum: 60.2666, rl_score_sum: 61.2423, score_diff: -0.9758, il_win: 67.4000, rl_win: 74.9500
2025-09-24 05:52:42,757 - mmdet - INFO - Epoch [7][2220/3517]	lr: 4.268e-05, eta: 13:38:11, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0140, loss_waypoint: 0.2049, debug_std_frame_0: 0.2894, debug_std_frame_1: 0.3208, debug_std_frame_2: 0.3704, debug_std_frame_3: 0.4277, debug_std_frame_4: 0.4914, debug_std_frame_5: 0.5632, loss_rl: -0.1855, loss_critic: 1.1876, loss_rl_bc: 0.0179, il_score: 0.6041, rl_score: 0.5968, prev_frame_loss_waypoint_0: 0.2346, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.4950, grad_norm: 72.4043, il_score_sum: 60.2666, rl_score_sum: 61.2423, score_diff: -0.9758, il_win: 67.4000, rl_win: 74.9500
2025-09-24 05:52:58,944 - mmdet - INFO - Epoch [7][2240/3517]	lr: 4.268e-05, eta: 13:37:56, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0136, loss_waypoint: 0.2366, debug_std_frame_0: 0.2680, debug_std_frame_1: 0.2942, debug_std_frame_2: 0.3451, debug_std_frame_3: 0.4090, debug_std_frame_4: 0.4770, debug_std_frame_5: 0.5488, loss_rl: -0.1721, loss_critic: 1.2188, loss_rl_bc: 0.0207, il_score: 0.5787, rl_score: 0.6230, prev_frame_loss_waypoint_0: 0.2340, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.5712, grad_norm: 75.9628, il_score_sum: 60.2666, rl_score_sum: 61.2423, score_diff: -0.9758, il_win: 67.4000, rl_win: 74.9500
2025-09-24 05:53:14,936 - mmdet - INFO - Epoch [7][2260/3517]	lr: 4.268e-05, eta: 13:37:39, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0148, loss_waypoint: 0.2827, debug_std_frame_0: 0.2754, debug_std_frame_1: 0.3003, debug_std_frame_2: 0.3475, debug_std_frame_3: 0.4074, debug_std_frame_4: 0.4697, debug_std_frame_5: 0.5452, loss_rl: -0.1413, loss_critic: 1.3169, loss_rl_bc: 0.0331, il_score: 0.5385, rl_score: 0.5607, prev_frame_loss_waypoint_0: 0.2820, prev_frame_loss_rl_bc_0: 0.0316, loss: 1.8199, grad_norm: 78.8056, il_score_sum: 60.2666, rl_score_sum: 61.2423, score_diff: -0.9758, il_win: 67.4000, rl_win: 74.9500
2025-09-24 05:53:30,764 - mmdet - INFO - Epoch [7][2280/3517]	lr: 4.268e-05, eta: 13:37:23, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0138, loss_waypoint: 0.2361, debug_std_frame_0: 0.2884, debug_std_frame_1: 0.3153, debug_std_frame_2: 0.3629, debug_std_frame_3: 0.4226, debug_std_frame_4: 0.4796, debug_std_frame_5: 0.5466, loss_rl: -0.1682, loss_critic: 1.3922, loss_rl_bc: 0.0357, il_score: 0.6222, rl_score: 0.5667, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0352, loss: 1.7807, grad_norm: 78.5261, il_score_sum: 60.2666, rl_score_sum: 61.2423, score_diff: -0.9758, il_win: 67.4000, rl_win: 74.9500
2025-09-24 05:53:47,013 - mmdet - INFO - Epoch [7][2300/3517]	lr: 4.268e-05, eta: 13:37:07, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0151, loss_waypoint: 0.2273, debug_std_frame_0: 0.3364, debug_std_frame_1: 0.3656, debug_std_frame_2: 0.4127, debug_std_frame_3: 0.4695, debug_std_frame_4: 0.5268, debug_std_frame_5: 0.5935, loss_rl: -0.1313, loss_critic: 1.1567, loss_rl_bc: 0.0375, il_score: 0.6212, rl_score: 0.5660, prev_frame_loss_waypoint_0: 0.2365, prev_frame_loss_rl_bc_0: 0.0438, loss: 1.5856, grad_norm: 68.0875, il_score_sum: 60.2046, rl_score_sum: 61.0358, score_diff: -0.8312, il_win: 67.5500, rl_win: 75.4000
2025-09-24 05:54:02,807 - mmdet - INFO - Epoch [7][2320/3517]	lr: 4.268e-05, eta: 13:36:50, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0142, loss_waypoint: 0.2206, debug_std_frame_0: 0.3690, debug_std_frame_1: 0.3967, debug_std_frame_2: 0.4408, debug_std_frame_3: 0.4913, debug_std_frame_4: 0.5478, debug_std_frame_5: 0.6118, loss_rl: -0.2074, loss_critic: 1.1628, loss_rl_bc: 0.0278, il_score: 0.6216, rl_score: 0.5740, prev_frame_loss_waypoint_0: 0.2212, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.4675, grad_norm: 62.0929, il_score_sum: 60.2046, rl_score_sum: 61.0358, score_diff: -0.8312, il_win: 67.5500, rl_win: 75.4000
2025-09-24 05:54:18,838 - mmdet - INFO - Epoch [7][2340/3517]	lr: 4.268e-05, eta: 13:36:34, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.2439, debug_std_frame_0: 0.3307, debug_std_frame_1: 0.3556, debug_std_frame_2: 0.4009, debug_std_frame_3: 0.4514, debug_std_frame_4: 0.5060, debug_std_frame_5: 0.5676, loss_rl: -0.2547, loss_critic: 1.3238, loss_rl_bc: 0.0172, il_score: 0.5595, rl_score: 0.6125, prev_frame_loss_waypoint_0: 0.2745, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.6390, grad_norm: 81.4329, il_score_sum: 60.2046, rl_score_sum: 61.0358, score_diff: -0.8312, il_win: 67.5500, rl_win: 75.4000
2025-09-24 05:54:34,810 - mmdet - INFO - Epoch [7][2360/3517]	lr: 4.268e-05, eta: 13:36:18, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0151, loss_waypoint: 0.2736, debug_std_frame_0: 0.3010, debug_std_frame_1: 0.3299, debug_std_frame_2: 0.3807, debug_std_frame_3: 0.4350, debug_std_frame_4: 0.4898, debug_std_frame_5: 0.5525, loss_rl: -0.2313, loss_critic: 1.3384, loss_rl_bc: 0.0186, il_score: 0.5544, rl_score: 0.6234, prev_frame_loss_waypoint_0: 0.3050, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.7396, grad_norm: 97.5603, il_score_sum: 60.2046, rl_score_sum: 61.0358, score_diff: -0.8312, il_win: 67.5500, rl_win: 75.4000
2025-09-24 05:54:50,733 - mmdet - INFO - Epoch [7][2380/3517]	lr: 4.268e-05, eta: 13:36:01, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0154, loss_waypoint: 0.2145, debug_std_frame_0: 0.2786, debug_std_frame_1: 0.3088, debug_std_frame_2: 0.3618, debug_std_frame_3: 0.4163, debug_std_frame_4: 0.4753, debug_std_frame_5: 0.5386, loss_rl: -0.2653, loss_critic: 1.4329, loss_rl_bc: 0.0189, il_score: 0.5961, rl_score: 0.6529, prev_frame_loss_waypoint_0: 0.2300, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.6605, grad_norm: 64.6883, il_score_sum: 60.2046, rl_score_sum: 61.0358, score_diff: -0.8312, il_win: 67.5500, rl_win: 75.4000
2025-09-24 05:55:07,224 - mmdet - INFO - Epoch [7][2400/3517]	lr: 4.268e-05, eta: 13:35:46, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0153, loss_waypoint: 0.2130, debug_std_frame_0: 0.2498, debug_std_frame_1: 0.2811, debug_std_frame_2: 0.3345, debug_std_frame_3: 0.3974, debug_std_frame_4: 0.4609, debug_std_frame_5: 0.5269, loss_rl: -0.1817, loss_critic: 1.1480, loss_rl_bc: 0.0199, il_score: 0.5958, rl_score: 0.6058, prev_frame_loss_waypoint_0: 0.2075, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.4395, grad_norm: 66.7333, il_score_sum: 60.1437, rl_score_sum: 61.1550, score_diff: -1.0113, il_win: 67.7000, rl_win: 75.9000
2025-09-24 05:55:23,211 - mmdet - INFO - Epoch [7][2420/3517]	lr: 4.268e-05, eta: 13:35:30, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0168, loss_waypoint: 0.1827, debug_std_frame_0: 0.2709, debug_std_frame_1: 0.2970, debug_std_frame_2: 0.3477, debug_std_frame_3: 0.4017, debug_std_frame_4: 0.4599, debug_std_frame_5: 0.5256, loss_rl: -0.2329, loss_critic: 1.3144, loss_rl_bc: 0.0135, il_score: 0.6153, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.5220, grad_norm: 67.0210, il_score_sum: 60.1437, rl_score_sum: 61.1550, score_diff: -1.0113, il_win: 67.7000, rl_win: 75.9000
2025-09-24 05:55:39,220 - mmdet - INFO - Epoch [7][2440/3517]	lr: 4.268e-05, eta: 13:35:14, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0164, loss_waypoint: 0.1898, debug_std_frame_0: 0.2493, debug_std_frame_1: 0.2750, debug_std_frame_2: 0.3263, debug_std_frame_3: 0.3854, debug_std_frame_4: 0.4462, debug_std_frame_5: 0.5079, loss_rl: -0.2238, loss_critic: 1.3957, loss_rl_bc: 0.0151, il_score: 0.6079, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.2069, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.6193, grad_norm: 63.6770, il_score_sum: 60.1437, rl_score_sum: 61.1550, score_diff: -1.0113, il_win: 67.7000, rl_win: 75.9000
2025-09-24 05:55:55,141 - mmdet - INFO - Epoch [7][2460/3517]	lr: 4.268e-05, eta: 13:34:57, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2291, debug_std_frame_0: 0.2584, debug_std_frame_1: 0.2850, debug_std_frame_2: 0.3329, debug_std_frame_3: 0.3925, debug_std_frame_4: 0.4487, debug_std_frame_5: 0.5126, loss_rl: -0.1952, loss_critic: 1.3181, loss_rl_bc: 0.0198, il_score: 0.5874, rl_score: 0.6081, prev_frame_loss_waypoint_0: 0.2319, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.6383, grad_norm: 77.8163, il_score_sum: 60.1437, rl_score_sum: 61.1550, score_diff: -1.0113, il_win: 67.7000, rl_win: 75.9000
2025-09-24 05:56:11,124 - mmdet - INFO - Epoch [7][2480/3517]	lr: 4.268e-05, eta: 13:34:41, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0151, loss_waypoint: 0.2500, debug_std_frame_0: 0.2832, debug_std_frame_1: 0.3114, debug_std_frame_2: 0.3563, debug_std_frame_3: 0.4153, debug_std_frame_4: 0.4709, debug_std_frame_5: 0.5353, loss_rl: -0.2089, loss_critic: 1.4860, loss_rl_bc: 0.0219, il_score: 0.5641, rl_score: 0.5960, prev_frame_loss_waypoint_0: 0.2622, prev_frame_loss_rl_bc_0: 0.0269, loss: 1.8532, grad_norm: 77.4907, il_score_sum: 60.1437, rl_score_sum: 61.1550, score_diff: -1.0113, il_win: 67.7000, rl_win: 75.9000
2025-09-24 05:56:27,421 - mmdet - INFO - Epoch [7][2500/3517]	lr: 4.268e-05, eta: 13:34:25, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0163, loss_waypoint: 0.2804, debug_std_frame_0: 0.2995, debug_std_frame_1: 0.3236, debug_std_frame_2: 0.3665, debug_std_frame_3: 0.4248, debug_std_frame_4: 0.4798, debug_std_frame_5: 0.5412, loss_rl: -0.1873, loss_critic: 1.2242, loss_rl_bc: 0.0266, il_score: 0.5650, rl_score: 0.6126, prev_frame_loss_waypoint_0: 0.3103, prev_frame_loss_rl_bc_0: 0.0322, loss: 1.7027, grad_norm: 89.8041, il_score_sum: 60.0800, rl_score_sum: 61.1189, score_diff: -1.0389, il_win: 67.8500, rl_win: 76.4000
2025-09-24 05:56:43,050 - mmdet - INFO - Epoch [7][2520/3517]	lr: 4.268e-05, eta: 13:34:08, time: 0.781, data_time: 0.012, memory: 8550, loss_rec: 0.0161, loss_waypoint: 0.2476, debug_std_frame_0: 0.2965, debug_std_frame_1: 0.3234, debug_std_frame_2: 0.3673, debug_std_frame_3: 0.4265, debug_std_frame_4: 0.4867, debug_std_frame_5: 0.5504, loss_rl: -0.2031, loss_critic: 1.3315, loss_rl_bc: 0.0157, il_score: 0.5722, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2639, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.6914, grad_norm: 69.4744, il_score_sum: 60.0800, rl_score_sum: 61.1189, score_diff: -1.0389, il_win: 67.8500, rl_win: 76.4000
2025-09-24 05:56:58,925 - mmdet - INFO - Epoch [7][2540/3517]	lr: 4.268e-05, eta: 13:33:52, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2609, debug_std_frame_0: 0.2786, debug_std_frame_1: 0.3032, debug_std_frame_2: 0.3452, debug_std_frame_3: 0.4045, debug_std_frame_4: 0.4680, debug_std_frame_5: 0.5257, loss_rl: -0.1653, loss_critic: 1.4276, loss_rl_bc: 0.0384, il_score: 0.5802, rl_score: 0.5667, prev_frame_loss_waypoint_0: 0.2511, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.8598, grad_norm: 79.3085, il_score_sum: 60.0800, rl_score_sum: 61.1189, score_diff: -1.0389, il_win: 67.8500, rl_win: 76.4000
2025-09-24 05:57:14,840 - mmdet - INFO - Epoch [7][2560/3517]	lr: 4.268e-05, eta: 13:33:35, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0154, loss_waypoint: 0.2712, debug_std_frame_0: 0.3254, debug_std_frame_1: 0.3560, debug_std_frame_2: 0.4082, debug_std_frame_3: 0.4752, debug_std_frame_4: 0.5432, debug_std_frame_5: 0.6018, loss_rl: -0.0927, loss_critic: 1.1694, loss_rl_bc: 0.0340, il_score: 0.5600, rl_score: 0.5609, prev_frame_loss_waypoint_0: 0.2748, prev_frame_loss_rl_bc_0: 0.0360, loss: 1.7080, grad_norm: 77.5042, il_score_sum: 60.0800, rl_score_sum: 61.1189, score_diff: -1.0389, il_win: 67.8500, rl_win: 76.4000
2025-09-24 05:57:30,695 - mmdet - INFO - Epoch [7][2580/3517]	lr: 4.268e-05, eta: 13:33:19, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0152, loss_waypoint: 0.2953, debug_std_frame_0: 0.3116, debug_std_frame_1: 0.3394, debug_std_frame_2: 0.3875, debug_std_frame_3: 0.4470, debug_std_frame_4: 0.5133, debug_std_frame_5: 0.5688, loss_rl: -0.1584, loss_critic: 1.4280, loss_rl_bc: 0.0212, il_score: 0.5480, rl_score: 0.6139, prev_frame_loss_waypoint_0: 0.3001, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.9243, grad_norm: 108.7097, il_score_sum: 60.0800, rl_score_sum: 61.1189, score_diff: -1.0389, il_win: 67.8500, rl_win: 76.4000
2025-09-24 05:57:46,865 - mmdet - INFO - Epoch [7][2600/3517]	lr: 4.268e-05, eta: 13:33:03, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0149, loss_waypoint: 0.2871, debug_std_frame_0: 0.3201, debug_std_frame_1: 0.3506, debug_std_frame_2: 0.3998, debug_std_frame_3: 0.4613, debug_std_frame_4: 0.5236, debug_std_frame_5: 0.5785, loss_rl: -0.1775, loss_critic: 1.3231, loss_rl_bc: 0.0296, il_score: 0.5221, rl_score: 0.5699, prev_frame_loss_waypoint_0: 0.3269, prev_frame_loss_rl_bc_0: 0.0482, loss: 1.8524, grad_norm: 88.6372, il_score_sum: 59.8643, rl_score_sum: 61.1547, score_diff: -1.2904, il_win: 67.9500, rl_win: 76.9500
2025-09-24 05:58:02,667 - mmdet - INFO - Epoch [7][2620/3517]	lr: 4.268e-05, eta: 13:32:46, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0169, loss_waypoint: 0.2209, debug_std_frame_0: 0.3396, debug_std_frame_1: 0.3685, debug_std_frame_2: 0.4119, debug_std_frame_3: 0.4692, debug_std_frame_4: 0.5275, debug_std_frame_5: 0.5799, loss_rl: -0.2031, loss_critic: 1.1803, loss_rl_bc: 0.0293, il_score: 0.6247, rl_score: 0.5803, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0304, loss: 1.5014, grad_norm: 57.1209, il_score_sum: 59.8643, rl_score_sum: 61.1547, score_diff: -1.2904, il_win: 67.9500, rl_win: 76.9500
2025-09-24 05:58:18,823 - mmdet - INFO - Epoch [7][2640/3517]	lr: 4.268e-05, eta: 13:32:30, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.2256, debug_std_frame_0: 0.3398, debug_std_frame_1: 0.3674, debug_std_frame_2: 0.4105, debug_std_frame_3: 0.4631, debug_std_frame_4: 0.5202, debug_std_frame_5: 0.5791, loss_rl: -0.2384, loss_critic: 1.5438, loss_rl_bc: 0.0225, il_score: 0.6080, rl_score: 0.6059, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.8126, grad_norm: 47.0894, il_score_sum: 59.8643, rl_score_sum: 61.1547, score_diff: -1.2904, il_win: 67.9500, rl_win: 76.9500
2025-09-24 05:58:34,822 - mmdet - INFO - Epoch [7][2660/3517]	lr: 4.268e-05, eta: 13:32:14, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0155, loss_waypoint: 0.2190, debug_std_frame_0: 0.3086, debug_std_frame_1: 0.3376, debug_std_frame_2: 0.3833, debug_std_frame_3: 0.4386, debug_std_frame_4: 0.4914, debug_std_frame_5: 0.5527, loss_rl: -0.2280, loss_critic: 1.2686, loss_rl_bc: 0.0148, il_score: 0.6069, rl_score: 0.6320, prev_frame_loss_waypoint_0: 0.2360, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.5442, grad_norm: 54.6382, il_score_sum: 59.8643, rl_score_sum: 61.1547, score_diff: -1.2904, il_win: 67.9500, rl_win: 76.9500
2025-09-24 05:58:50,693 - mmdet - INFO - Epoch [7][2680/3517]	lr: 4.268e-05, eta: 13:31:57, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.2458, debug_std_frame_0: 0.2735, debug_std_frame_1: 0.3048, debug_std_frame_2: 0.3538, debug_std_frame_3: 0.4184, debug_std_frame_4: 0.4810, debug_std_frame_5: 0.5431, loss_rl: -0.1967, loss_critic: 1.3232, loss_rl_bc: 0.0194, il_score: 0.5843, rl_score: 0.6275, prev_frame_loss_waypoint_0: 0.2471, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.6766, grad_norm: 56.1847, il_score_sum: 59.8643, rl_score_sum: 61.1547, score_diff: -1.2904, il_win: 67.9500, rl_win: 76.9500
2025-09-24 05:59:06,867 - mmdet - INFO - Epoch [7][2700/3517]	lr: 4.268e-05, eta: 13:31:41, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0164, loss_waypoint: 0.2024, debug_std_frame_0: 0.2620, debug_std_frame_1: 0.2890, debug_std_frame_2: 0.3350, debug_std_frame_3: 0.3892, debug_std_frame_4: 0.4431, debug_std_frame_5: 0.5025, loss_rl: -0.2315, loss_critic: 1.2293, loss_rl_bc: 0.0162, il_score: 0.6388, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2175, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.4660, grad_norm: 67.5504, il_score_sum: 59.9672, rl_score_sum: 61.0697, score_diff: -1.1025, il_win: 68.0500, rl_win: 77.4500
2025-09-24 05:59:22,750 - mmdet - INFO - Epoch [7][2720/3517]	lr: 4.268e-05, eta: 13:31:25, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0165, loss_waypoint: 0.1959, debug_std_frame_0: 0.2448, debug_std_frame_1: 0.2714, debug_std_frame_2: 0.3226, debug_std_frame_3: 0.3771, debug_std_frame_4: 0.4328, debug_std_frame_5: 0.4941, loss_rl: -0.2086, loss_critic: 1.3037, loss_rl_bc: 0.0107, il_score: 0.6229, rl_score: 0.6467, prev_frame_loss_waypoint_0: 0.2250, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5591, grad_norm: 58.0354, il_score_sum: 59.9672, rl_score_sum: 61.0697, score_diff: -1.1025, il_win: 68.0500, rl_win: 77.4500
2025-09-24 05:59:38,760 - mmdet - INFO - Epoch [7][2740/3517]	lr: 4.268e-05, eta: 13:31:09, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0168, loss_waypoint: 0.2063, debug_std_frame_0: 0.2455, debug_std_frame_1: 0.2776, debug_std_frame_2: 0.3360, debug_std_frame_3: 0.3973, debug_std_frame_4: 0.4628, debug_std_frame_5: 0.5291, loss_rl: -0.2460, loss_critic: 1.3252, loss_rl_bc: 0.0159, il_score: 0.6137, rl_score: 0.6314, prev_frame_loss_waypoint_0: 0.2203, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.5602, grad_norm: 48.6325, il_score_sum: 59.9672, rl_score_sum: 61.0697, score_diff: -1.1025, il_win: 68.0500, rl_win: 77.4500
2025-09-24 05:59:54,648 - mmdet - INFO - Epoch [7][2760/3517]	lr: 4.268e-05, eta: 13:30:52, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0161, loss_waypoint: 0.2265, debug_std_frame_0: 0.2701, debug_std_frame_1: 0.3003, debug_std_frame_2: 0.3543, debug_std_frame_3: 0.4112, debug_std_frame_4: 0.4735, debug_std_frame_5: 0.5345, loss_rl: -0.2284, loss_critic: 1.4068, loss_rl_bc: 0.0242, il_score: 0.6008, rl_score: 0.6266, prev_frame_loss_waypoint_0: 0.2368, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.7028, grad_norm: 75.1794, il_score_sum: 59.9672, rl_score_sum: 61.0697, score_diff: -1.1025, il_win: 68.0500, rl_win: 77.4500
2025-09-24 06:00:10,649 - mmdet - INFO - Epoch [7][2780/3517]	lr: 4.268e-05, eta: 13:30:36, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0161, loss_waypoint: 0.2191, debug_std_frame_0: 0.2719, debug_std_frame_1: 0.3049, debug_std_frame_2: 0.3606, debug_std_frame_3: 0.4217, debug_std_frame_4: 0.4874, debug_std_frame_5: 0.5448, loss_rl: -0.2485, loss_critic: 1.4289, loss_rl_bc: 0.0121, il_score: 0.6151, rl_score: 0.6330, prev_frame_loss_waypoint_0: 0.2482, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.7002, grad_norm: 86.4702, il_score_sum: 59.9672, rl_score_sum: 61.0697, score_diff: -1.1025, il_win: 68.0500, rl_win: 77.4500
2025-09-24 06:00:26,854 - mmdet - INFO - Epoch [7][2800/3517]	lr: 4.268e-05, eta: 13:30:20, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0167, loss_waypoint: 0.2669, debug_std_frame_0: 0.2605, debug_std_frame_1: 0.2926, debug_std_frame_2: 0.3499, debug_std_frame_3: 0.4109, debug_std_frame_4: 0.4757, debug_std_frame_5: 0.5359, loss_rl: -0.2557, loss_critic: 1.1837, loss_rl_bc: 0.0189, il_score: 0.5718, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.2711, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.5243, grad_norm: 87.9211, il_score_sum: 59.9838, rl_score_sum: 61.1917, score_diff: -1.2079, il_win: 68.1500, rl_win: 77.9500
2025-09-24 06:00:42,760 - mmdet - INFO - Epoch [7][2820/3517]	lr: 4.268e-05, eta: 13:30:04, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0155, loss_waypoint: 0.2170, debug_std_frame_0: 0.2671, debug_std_frame_1: 0.3059, debug_std_frame_2: 0.3679, debug_std_frame_3: 0.4357, debug_std_frame_4: 0.5022, debug_std_frame_5: 0.5628, loss_rl: -0.1844, loss_critic: 1.5534, loss_rl_bc: 0.0342, il_score: 0.6420, rl_score: 0.6108, prev_frame_loss_waypoint_0: 0.2252, prev_frame_loss_rl_bc_0: 0.0351, loss: 1.8961, grad_norm: 74.6915, il_score_sum: 59.9838, rl_score_sum: 61.1917, score_diff: -1.2079, il_win: 68.1500, rl_win: 77.9500
2025-09-24 06:00:58,703 - mmdet - INFO - Epoch [7][2840/3517]	lr: 4.268e-05, eta: 13:29:47, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2219, debug_std_frame_0: 0.3044, debug_std_frame_1: 0.3382, debug_std_frame_2: 0.3871, debug_std_frame_3: 0.4458, debug_std_frame_4: 0.5049, debug_std_frame_5: 0.5650, loss_rl: -0.1408, loss_critic: 1.3021, loss_rl_bc: 0.0308, il_score: 0.5619, rl_score: 0.5397, prev_frame_loss_waypoint_0: 0.2452, prev_frame_loss_rl_bc_0: 0.0361, loss: 1.7113, grad_norm: 81.6755, il_score_sum: 59.9838, rl_score_sum: 61.1917, score_diff: -1.2079, il_win: 68.1500, rl_win: 77.9500
2025-09-24 06:01:14,545 - mmdet - INFO - Epoch [7][2860/3517]	lr: 4.268e-05, eta: 13:29:31, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0165, loss_waypoint: 0.2136, debug_std_frame_0: 0.3184, debug_std_frame_1: 0.3475, debug_std_frame_2: 0.3918, debug_std_frame_3: 0.4440, debug_std_frame_4: 0.4992, debug_std_frame_5: 0.5574, loss_rl: -0.1887, loss_critic: 1.2748, loss_rl_bc: 0.0211, il_score: 0.6398, rl_score: 0.6279, prev_frame_loss_waypoint_0: 0.2290, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.5892, grad_norm: 50.6068, il_score_sum: 59.9838, rl_score_sum: 61.1917, score_diff: -1.2079, il_win: 68.1500, rl_win: 77.9500
2025-09-24 06:01:30,575 - mmdet - INFO - Epoch [7][2880/3517]	lr: 4.268e-05, eta: 13:29:14, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.1850, debug_std_frame_0: 0.2986, debug_std_frame_1: 0.3347, debug_std_frame_2: 0.3855, debug_std_frame_3: 0.4428, debug_std_frame_4: 0.5044, debug_std_frame_5: 0.5652, loss_rl: -0.2180, loss_critic: 1.4061, loss_rl_bc: 0.0170, il_score: 0.6029, rl_score: 0.5896, prev_frame_loss_waypoint_0: 0.2082, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.6370, grad_norm: 41.1622, il_score_sum: 59.9838, rl_score_sum: 61.1917, score_diff: -1.2079, il_win: 68.1500, rl_win: 77.9500
2025-09-24 06:01:46,936 - mmdet - INFO - Epoch [7][2900/3517]	lr: 4.268e-05, eta: 13:28:59, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.2002, debug_std_frame_0: 0.2838, debug_std_frame_1: 0.3171, debug_std_frame_2: 0.3629, debug_std_frame_3: 0.4191, debug_std_frame_4: 0.4743, debug_std_frame_5: 0.5365, loss_rl: -0.2141, loss_critic: 1.3379, loss_rl_bc: 0.0228, il_score: 0.6466, rl_score: 0.6446, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.5958, grad_norm: 47.9804, il_score_sum: 60.0401, rl_score_sum: 61.1101, score_diff: -1.0700, il_win: 68.3000, rl_win: 78.4000
2025-09-24 06:02:02,495 - mmdet - INFO - Epoch [7][2920/3517]	lr: 4.268e-05, eta: 13:28:42, time: 0.778, data_time: 0.012, memory: 8550, loss_rec: 0.0165, loss_waypoint: 0.2126, debug_std_frame_0: 0.2907, debug_std_frame_1: 0.3212, debug_std_frame_2: 0.3668, debug_std_frame_3: 0.4213, debug_std_frame_4: 0.4802, debug_std_frame_5: 0.5407, loss_rl: -0.1862, loss_critic: 1.2903, loss_rl_bc: 0.0238, il_score: 0.6283, rl_score: 0.6003, prev_frame_loss_waypoint_0: 0.2391, prev_frame_loss_rl_bc_0: 0.0323, loss: 1.6285, grad_norm: 63.3594, il_score_sum: 60.0401, rl_score_sum: 61.1101, score_diff: -1.0700, il_win: 68.3000, rl_win: 78.4000
2025-09-24 06:02:18,359 - mmdet - INFO - Epoch [7][2940/3517]	lr: 4.268e-05, eta: 13:28:25, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0160, loss_waypoint: 0.2045, debug_std_frame_0: 0.2957, debug_std_frame_1: 0.3248, debug_std_frame_2: 0.3710, debug_std_frame_3: 0.4257, debug_std_frame_4: 0.4804, debug_std_frame_5: 0.5352, loss_rl: -0.2190, loss_critic: 1.4623, loss_rl_bc: 0.0217, il_score: 0.6409, rl_score: 0.6361, prev_frame_loss_waypoint_0: 0.2249, prev_frame_loss_rl_bc_0: 0.0267, loss: 1.7370, grad_norm: 73.8942, il_score_sum: 60.0401, rl_score_sum: 61.1101, score_diff: -1.0700, il_win: 68.3000, rl_win: 78.4000
2025-09-24 06:02:34,402 - mmdet - INFO - Epoch [7][2960/3517]	lr: 4.268e-05, eta: 13:28:09, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0160, loss_waypoint: 0.2387, debug_std_frame_0: 0.3127, debug_std_frame_1: 0.3435, debug_std_frame_2: 0.3949, debug_std_frame_3: 0.4556, debug_std_frame_4: 0.5154, debug_std_frame_5: 0.5762, loss_rl: -0.2461, loss_critic: 1.1315, loss_rl_bc: 0.0192, il_score: 0.6068, rl_score: 0.6586, prev_frame_loss_waypoint_0: 0.2399, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.4221, grad_norm: 79.3835, il_score_sum: 60.0401, rl_score_sum: 61.1101, score_diff: -1.0700, il_win: 68.3000, rl_win: 78.4000
2025-09-24 06:02:50,210 - mmdet - INFO - Epoch [7][2980/3517]	lr: 4.268e-05, eta: 13:27:52, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0162, loss_waypoint: 0.2235, debug_std_frame_0: 0.2801, debug_std_frame_1: 0.3090, debug_std_frame_2: 0.3626, debug_std_frame_3: 0.4237, debug_std_frame_4: 0.4838, debug_std_frame_5: 0.5511, loss_rl: -0.2025, loss_critic: 1.3044, loss_rl_bc: 0.0179, il_score: 0.6053, rl_score: 0.6300, prev_frame_loss_waypoint_0: 0.2367, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.6169, grad_norm: 50.8103, il_score_sum: 60.0401, rl_score_sum: 61.1101, score_diff: -1.0700, il_win: 68.3000, rl_win: 78.4000
2025-09-24 06:03:06,296 - mmdet - INFO - Epoch [7][3000/3517]	lr: 4.268e-05, eta: 13:27:36, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0160, loss_waypoint: 0.1838, debug_std_frame_0: 0.2448, debug_std_frame_1: 0.2707, debug_std_frame_2: 0.3218, debug_std_frame_3: 0.3792, debug_std_frame_4: 0.4398, debug_std_frame_5: 0.5022, loss_rl: -0.2144, loss_critic: 1.1511, loss_rl_bc: 0.0076, il_score: 0.6223, rl_score: 0.6469, prev_frame_loss_waypoint_0: 0.2156, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.3818, grad_norm: 71.3563, il_score_sum: 60.1033, rl_score_sum: 61.1614, score_diff: -1.0581, il_win: 68.4500, rl_win: 78.8500
2025-09-24 06:03:22,053 - mmdet - INFO - Epoch [7][3020/3517]	lr: 4.268e-05, eta: 13:27:19, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0162, loss_waypoint: 0.2177, debug_std_frame_0: 0.2542, debug_std_frame_1: 0.2873, debug_std_frame_2: 0.3463, debug_std_frame_3: 0.4053, debug_std_frame_4: 0.4662, debug_std_frame_5: 0.5316, loss_rl: -0.2554, loss_critic: 1.2221, loss_rl_bc: 0.0172, il_score: 0.6180, rl_score: 0.6636, prev_frame_loss_waypoint_0: 0.2482, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.4879, grad_norm: 64.3914, il_score_sum: 60.1033, rl_score_sum: 61.1614, score_diff: -1.0581, il_win: 68.4500, rl_win: 78.8500
2025-09-24 06:03:37,948 - mmdet - INFO - Epoch [7][3040/3517]	lr: 4.268e-05, eta: 13:27:03, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.2164, debug_std_frame_0: 0.2501, debug_std_frame_1: 0.2837, debug_std_frame_2: 0.3424, debug_std_frame_3: 0.4057, debug_std_frame_4: 0.4706, debug_std_frame_5: 0.5411, loss_rl: -0.2234, loss_critic: 1.0317, loss_rl_bc: 0.0175, il_score: 0.6120, rl_score: 0.6497, prev_frame_loss_waypoint_0: 0.2209, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.2945, grad_norm: 50.8411, il_score_sum: 60.1033, rl_score_sum: 61.1614, score_diff: -1.0581, il_win: 68.4500, rl_win: 78.8500
2025-09-24 06:03:54,080 - mmdet - INFO - Epoch [7][3060/3517]	lr: 4.268e-05, eta: 13:26:47, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.2742, debug_std_frame_0: 0.2502, debug_std_frame_1: 0.2841, debug_std_frame_2: 0.3411, debug_std_frame_3: 0.4017, debug_std_frame_4: 0.4638, debug_std_frame_5: 0.5306, loss_rl: -0.1958, loss_critic: 1.2180, loss_rl_bc: 0.0236, il_score: 0.5431, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2951, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.6548, grad_norm: 93.4397, il_score_sum: 60.1033, rl_score_sum: 61.1614, score_diff: -1.0581, il_win: 68.4500, rl_win: 78.8500
2025-09-24 06:04:09,934 - mmdet - INFO - Epoch [7][3080/3517]	lr: 4.268e-05, eta: 13:26:30, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0162, loss_waypoint: 0.1969, debug_std_frame_0: 0.2680, debug_std_frame_1: 0.3002, debug_std_frame_2: 0.3556, debug_std_frame_3: 0.4121, debug_std_frame_4: 0.4695, debug_std_frame_5: 0.5339, loss_rl: -0.2500, loss_critic: 1.2997, loss_rl_bc: 0.0183, il_score: 0.6399, rl_score: 0.6283, prev_frame_loss_waypoint_0: 0.2049, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.5053, grad_norm: 60.2272, il_score_sum: 60.1033, rl_score_sum: 61.1614, score_diff: -1.0581, il_win: 68.4500, rl_win: 78.8500
2025-09-24 06:04:25,946 - mmdet - INFO - Epoch [7][3100/3517]	lr: 4.268e-05, eta: 13:26:14, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0155, loss_waypoint: 0.2164, debug_std_frame_0: 0.2646, debug_std_frame_1: 0.2939, debug_std_frame_2: 0.3442, debug_std_frame_3: 0.3988, debug_std_frame_4: 0.4594, debug_std_frame_5: 0.5236, loss_rl: -0.2049, loss_critic: 1.3865, loss_rl_bc: 0.0188, il_score: 0.6293, rl_score: 0.6372, prev_frame_loss_waypoint_0: 0.2142, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.6632, grad_norm: 73.9979, il_score_sum: 60.1190, rl_score_sum: 61.3568, score_diff: -1.2378, il_win: 68.6000, rl_win: 79.3500
2025-09-24 06:04:41,485 - mmdet - INFO - Epoch [7][3120/3517]	lr: 4.268e-05, eta: 13:25:57, time: 0.777, data_time: 0.012, memory: 8550, loss_rec: 0.0176, loss_waypoint: 0.2339, debug_std_frame_0: 0.2478, debug_std_frame_1: 0.2760, debug_std_frame_2: 0.3264, debug_std_frame_3: 0.3843, debug_std_frame_4: 0.4404, debug_std_frame_5: 0.5088, loss_rl: -0.2404, loss_critic: 1.3743, loss_rl_bc: 0.0159, il_score: 0.5945, rl_score: 0.6383, prev_frame_loss_waypoint_0: 0.2530, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.6710, grad_norm: 71.9186, il_score_sum: 60.1190, rl_score_sum: 61.3568, score_diff: -1.2378, il_win: 68.6000, rl_win: 79.3500
2025-09-24 06:04:57,380 - mmdet - INFO - Epoch [7][3140/3517]	lr: 4.268e-05, eta: 13:25:40, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0163, loss_waypoint: 0.2344, debug_std_frame_0: 0.2486, debug_std_frame_1: 0.2784, debug_std_frame_2: 0.3303, debug_std_frame_3: 0.3855, debug_std_frame_4: 0.4393, debug_std_frame_5: 0.5055, loss_rl: -0.2022, loss_critic: 1.4162, loss_rl_bc: 0.0238, il_score: 0.5756, rl_score: 0.6090, prev_frame_loss_waypoint_0: 0.2450, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.7573, grad_norm: 64.1745, il_score_sum: 60.1190, rl_score_sum: 61.3568, score_diff: -1.2378, il_win: 68.6000, rl_win: 79.3500
2025-09-24 06:05:13,158 - mmdet - INFO - Epoch [7][3160/3517]	lr: 4.268e-05, eta: 13:25:23, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.1859, debug_std_frame_0: 0.2755, debug_std_frame_1: 0.3169, debug_std_frame_2: 0.3789, debug_std_frame_3: 0.4406, debug_std_frame_4: 0.4976, debug_std_frame_5: 0.5579, loss_rl: -0.2183, loss_critic: 1.3367, loss_rl_bc: 0.0237, il_score: 0.6325, rl_score: 0.6050, prev_frame_loss_waypoint_0: 0.2123, prev_frame_loss_rl_bc_0: 0.0275, loss: 1.5835, grad_norm: 56.9091, il_score_sum: 60.1190, rl_score_sum: 61.3568, score_diff: -1.2378, il_win: 68.6000, rl_win: 79.3500
2025-09-24 06:05:29,176 - mmdet - INFO - Epoch [7][3180/3517]	lr: 4.268e-05, eta: 13:25:07, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0150, loss_waypoint: 0.2140, debug_std_frame_0: 0.3015, debug_std_frame_1: 0.3417, debug_std_frame_2: 0.3985, debug_std_frame_3: 0.4562, debug_std_frame_4: 0.5131, debug_std_frame_5: 0.5724, loss_rl: -0.1932, loss_critic: 1.4655, loss_rl_bc: 0.0239, il_score: 0.6155, rl_score: 0.6058, prev_frame_loss_waypoint_0: 0.2461, prev_frame_loss_rl_bc_0: 0.0347, loss: 1.8060, grad_norm: 67.2022, il_score_sum: 60.1190, rl_score_sum: 61.3568, score_diff: -1.2378, il_win: 68.6000, rl_win: 79.3500
2025-09-24 06:05:45,493 - mmdet - INFO - Epoch [7][3200/3517]	lr: 4.268e-05, eta: 13:24:52, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0145, loss_waypoint: 0.2162, debug_std_frame_0: 0.3155, debug_std_frame_1: 0.3533, debug_std_frame_2: 0.4091, debug_std_frame_3: 0.4664, debug_std_frame_4: 0.5203, debug_std_frame_5: 0.5792, loss_rl: -0.1613, loss_critic: 1.3297, loss_rl_bc: 0.0318, il_score: 0.6142, rl_score: 0.5562, prev_frame_loss_waypoint_0: 0.2165, prev_frame_loss_rl_bc_0: 0.0325, loss: 1.6801, grad_norm: 75.3443, il_score_sum: 60.2146, rl_score_sum: 61.4056, score_diff: -1.1910, il_win: 68.7500, rl_win: 79.8500
2025-09-24 06:06:01,304 - mmdet - INFO - Epoch [7][3220/3517]	lr: 4.268e-05, eta: 13:24:35, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0153, loss_waypoint: 0.2066, debug_std_frame_0: 0.3286, debug_std_frame_1: 0.3633, debug_std_frame_2: 0.4141, debug_std_frame_3: 0.4695, debug_std_frame_4: 0.5176, debug_std_frame_5: 0.5726, loss_rl: -0.1980, loss_critic: 1.5614, loss_rl_bc: 0.0176, il_score: 0.5610, rl_score: 0.5839, prev_frame_loss_waypoint_0: 0.2270, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.8482, grad_norm: 73.0212, il_score_sum: 60.2146, rl_score_sum: 61.4056, score_diff: -1.1910, il_win: 68.7500, rl_win: 79.8500
2025-09-24 06:06:17,126 - mmdet - INFO - Epoch [7][3240/3517]	lr: 4.268e-05, eta: 13:24:18, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2218, debug_std_frame_0: 0.3062, debug_std_frame_1: 0.3386, debug_std_frame_2: 0.3862, debug_std_frame_3: 0.4364, debug_std_frame_4: 0.4836, debug_std_frame_5: 0.5372, loss_rl: -0.2851, loss_critic: 1.4945, loss_rl_bc: 0.0156, il_score: 0.6008, rl_score: 0.6383, prev_frame_loss_waypoint_0: 0.2505, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.7405, grad_norm: 67.6629, il_score_sum: 60.2146, rl_score_sum: 61.4056, score_diff: -1.1910, il_win: 68.7500, rl_win: 79.8500
2025-09-24 06:06:33,041 - mmdet - INFO - Epoch [7][3260/3517]	lr: 4.268e-05, eta: 13:24:02, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0155, loss_waypoint: 0.2633, debug_std_frame_0: 0.2707, debug_std_frame_1: 0.3076, debug_std_frame_2: 0.3585, debug_std_frame_3: 0.4149, debug_std_frame_4: 0.4674, debug_std_frame_5: 0.5214, loss_rl: -0.1859, loss_critic: 1.2313, loss_rl_bc: 0.0304, il_score: 0.5818, rl_score: 0.5938, prev_frame_loss_waypoint_0: 0.2742, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.6531, grad_norm: 97.2201, il_score_sum: 60.2146, rl_score_sum: 61.4056, score_diff: -1.1910, il_win: 68.7500, rl_win: 79.8500
2025-09-24 06:06:48,936 - mmdet - INFO - Epoch [7][3280/3517]	lr: 4.268e-05, eta: 13:23:46, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2407, debug_std_frame_0: 0.2870, debug_std_frame_1: 0.3220, debug_std_frame_2: 0.3711, debug_std_frame_3: 0.4272, debug_std_frame_4: 0.4772, debug_std_frame_5: 0.5306, loss_rl: -0.1728, loss_critic: 1.6690, loss_rl_bc: 0.0729, il_score: 0.5778, rl_score: 0.5814, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0764, loss: 2.1555, grad_norm: 82.7109, il_score_sum: 60.2146, rl_score_sum: 61.4056, score_diff: -1.1910, il_win: 68.7500, rl_win: 79.8500
2025-09-24 06:07:05,061 - mmdet - INFO - Epoch [7][3300/3517]	lr: 4.268e-05, eta: 13:23:30, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2574, debug_std_frame_0: 0.2884, debug_std_frame_1: 0.3219, debug_std_frame_2: 0.3706, debug_std_frame_3: 0.4274, debug_std_frame_4: 0.4806, debug_std_frame_5: 0.5348, loss_rl: -0.1544, loss_critic: 1.0950, loss_rl_bc: 0.0229, il_score: 0.5774, rl_score: 0.5917, prev_frame_loss_waypoint_0: 0.2630, prev_frame_loss_rl_bc_0: 0.0327, loss: 1.5345, grad_norm: 75.9339, il_score_sum: 60.0803, rl_score_sum: 61.2898, score_diff: -1.2095, il_win: 68.9000, rl_win: 80.3500
2025-09-24 06:07:20,737 - mmdet - INFO - Epoch [7][3320/3517]	lr: 4.268e-05, eta: 13:23:13, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0167, loss_waypoint: 0.2096, debug_std_frame_0: 0.2770, debug_std_frame_1: 0.3125, debug_std_frame_2: 0.3632, debug_std_frame_3: 0.4235, debug_std_frame_4: 0.4805, debug_std_frame_5: 0.5438, loss_rl: -0.1635, loss_critic: 1.2259, loss_rl_bc: 0.0242, il_score: 0.6135, rl_score: 0.6127, prev_frame_loss_waypoint_0: 0.2218, prev_frame_loss_rl_bc_0: 0.0285, loss: 1.5631, grad_norm: 61.2786, il_score_sum: 60.0803, rl_score_sum: 61.2898, score_diff: -1.2095, il_win: 68.9000, rl_win: 80.3500
2025-09-24 06:07:36,727 - mmdet - INFO - Epoch [7][3340/3517]	lr: 4.268e-05, eta: 13:22:56, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.1953, debug_std_frame_0: 0.2827, debug_std_frame_1: 0.3145, debug_std_frame_2: 0.3594, debug_std_frame_3: 0.4110, debug_std_frame_4: 0.4578, debug_std_frame_5: 0.5151, loss_rl: -0.1760, loss_critic: 1.3334, loss_rl_bc: 0.0216, il_score: 0.6219, rl_score: 0.5965, prev_frame_loss_waypoint_0: 0.2233, prev_frame_loss_rl_bc_0: 0.0225, loss: 1.6369, grad_norm: 62.0217, il_score_sum: 60.0803, rl_score_sum: 61.2898, score_diff: -1.2095, il_win: 68.9000, rl_win: 80.3500
2025-09-24 06:07:52,627 - mmdet - INFO - Epoch [7][3360/3517]	lr: 4.268e-05, eta: 13:22:40, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2690, debug_std_frame_0: 0.2768, debug_std_frame_1: 0.3156, debug_std_frame_2: 0.3683, debug_std_frame_3: 0.4290, debug_std_frame_4: 0.4857, debug_std_frame_5: 0.5479, loss_rl: -0.1998, loss_critic: 1.5664, loss_rl_bc: 0.0262, il_score: 0.5645, rl_score: 0.5820, prev_frame_loss_waypoint_0: 0.2843, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.9869, grad_norm: 77.0702, il_score_sum: 60.0803, rl_score_sum: 61.2898, score_diff: -1.2095, il_win: 68.9000, rl_win: 80.3500
2025-09-24 06:08:08,570 - mmdet - INFO - Epoch [7][3380/3517]	lr: 4.268e-05, eta: 13:22:23, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0164, loss_waypoint: 0.2916, debug_std_frame_0: 0.2785, debug_std_frame_1: 0.3137, debug_std_frame_2: 0.3611, debug_std_frame_3: 0.4190, debug_std_frame_4: 0.4726, debug_std_frame_5: 0.5440, loss_rl: -0.1939, loss_critic: 1.3468, loss_rl_bc: 0.0218, il_score: 0.4846, rl_score: 0.5856, prev_frame_loss_waypoint_0: 0.3280, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.8324, grad_norm: 86.7862, il_score_sum: 60.0803, rl_score_sum: 61.2898, score_diff: -1.2095, il_win: 68.9000, rl_win: 80.3500
2025-09-24 06:08:24,712 - mmdet - INFO - Epoch [7][3400/3517]	lr: 4.268e-05, eta: 13:22:08, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.2780, debug_std_frame_0: 0.2638, debug_std_frame_1: 0.3078, debug_std_frame_2: 0.3670, debug_std_frame_3: 0.4350, debug_std_frame_4: 0.4980, debug_std_frame_5: 0.5627, loss_rl: -0.1815, loss_critic: 1.3037, loss_rl_bc: 0.0177, il_score: 0.5138, rl_score: 0.6191, prev_frame_loss_waypoint_0: 0.2914, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.7455, grad_norm: 96.3970, il_score_sum: 59.8373, rl_score_sum: 61.2200, score_diff: -1.3827, il_win: 69.0500, rl_win: 80.9000
2025-09-24 06:08:40,393 - mmdet - INFO - Epoch [7][3420/3517]	lr: 4.268e-05, eta: 13:21:51, time: 0.784, data_time: 0.013, memory: 8550, loss_rec: 0.0163, loss_waypoint: 0.2037, debug_std_frame_0: 0.2450, debug_std_frame_1: 0.2851, debug_std_frame_2: 0.3380, debug_std_frame_3: 0.4028, debug_std_frame_4: 0.4693, debug_std_frame_5: 0.5331, loss_rl: -0.1780, loss_critic: 1.4618, loss_rl_bc: 0.0162, il_score: 0.5838, rl_score: 0.6137, prev_frame_loss_waypoint_0: 0.2196, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.7552, grad_norm: 44.8657, il_score_sum: 59.8373, rl_score_sum: 61.2200, score_diff: -1.3827, il_win: 69.0500, rl_win: 80.9000
2025-09-24 06:08:56,348 - mmdet - INFO - Epoch [7][3440/3517]	lr: 4.268e-05, eta: 13:21:34, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0167, loss_waypoint: 0.2225, debug_std_frame_0: 0.2432, debug_std_frame_1: 0.2760, debug_std_frame_2: 0.3247, debug_std_frame_3: 0.3830, debug_std_frame_4: 0.4407, debug_std_frame_5: 0.5017, loss_rl: -0.2247, loss_critic: 1.5009, loss_rl_bc: 0.0228, il_score: 0.5974, rl_score: 0.6213, prev_frame_loss_waypoint_0: 0.2267, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.7843, grad_norm: 73.9778, il_score_sum: 59.8373, rl_score_sum: 61.2200, score_diff: -1.3827, il_win: 69.0500, rl_win: 80.9000
2025-09-24 06:09:12,278 - mmdet - INFO - Epoch [7][3460/3517]	lr: 4.268e-05, eta: 13:21:18, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0164, loss_waypoint: 0.2486, debug_std_frame_0: 0.2573, debug_std_frame_1: 0.2940, debug_std_frame_2: 0.3491, debug_std_frame_3: 0.4151, debug_std_frame_4: 0.4803, debug_std_frame_5: 0.5429, loss_rl: -0.1651, loss_critic: 1.5276, loss_rl_bc: 0.0263, il_score: 0.5504, rl_score: 0.5931, prev_frame_loss_waypoint_0: 0.2628, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.9404, grad_norm: 78.3299, il_score_sum: 59.8373, rl_score_sum: 61.2200, score_diff: -1.3827, il_win: 69.0500, rl_win: 80.9000
2025-09-24 06:09:28,276 - mmdet - INFO - Epoch [7][3480/3517]	lr: 4.268e-05, eta: 13:21:02, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.2017, debug_std_frame_0: 0.2879, debug_std_frame_1: 0.3218, debug_std_frame_2: 0.3731, debug_std_frame_3: 0.4324, debug_std_frame_4: 0.4928, debug_std_frame_5: 0.5510, loss_rl: -0.2233, loss_critic: 1.4473, loss_rl_bc: 0.0210, il_score: 0.5868, rl_score: 0.6122, prev_frame_loss_waypoint_0: 0.2229, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.7086, grad_norm: 60.4914, il_score_sum: 59.8373, rl_score_sum: 61.2200, score_diff: -1.3827, il_win: 69.0500, rl_win: 80.9000
2025-09-24 06:09:44,407 - mmdet - INFO - Epoch [7][3500/3517]	lr: 4.268e-05, eta: 13:20:46, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.2074, debug_std_frame_0: 0.2796, debug_std_frame_1: 0.3070, debug_std_frame_2: 0.3512, debug_std_frame_3: 0.4060, debug_std_frame_4: 0.4613, debug_std_frame_5: 0.5177, loss_rl: -0.2252, loss_critic: 1.6358, loss_rl_bc: 0.0167, il_score: 0.6024, rl_score: 0.6085, prev_frame_loss_waypoint_0: 0.2322, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.9036, grad_norm: 53.5169, il_score_sum: 59.7308, rl_score_sum: 61.3686, score_diff: -1.6378, il_win: 69.1500, rl_win: 81.5000
2025-09-24 06:09:57,251 - mmdet - INFO - Saving checkpoint at 7 epochs
2025-09-24 06:12:32,935 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 06:12:32,935 - mmdet - INFO - Epoch(val) [7][753]	plan_L2_1s: 0.4922, plan_L2_2s: 0.8865, plan_L2_3s: 1.3718, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0007, plan_obj_box_col_2s: 0.0019, plan_obj_box_col_3s: 0.0070, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.4962, plan_L2_2s_rl_actor: 0.8794, plan_L2_3s_rl_actor: 1.3440, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0095, plan_obj_box_col_2s_rl_actor: 0.0129, plan_obj_box_col_3s_rl_actor: 0.0175, fut_valid_flag_rl_actor: 1.0000
2025-09-24 06:12:57,144 - mmdet - INFO - Epoch [8][20/3517]	lr: 4.023e-05, eta: 13:20:02, time: 1.209, data_time: 0.346, memory: 8550, loss_rec: 0.0162, loss_waypoint: 0.2151, debug_std_frame_0: 0.2642, debug_std_frame_1: 0.2959, debug_std_frame_2: 0.3479, debug_std_frame_3: 0.4138, debug_std_frame_4: 0.4780, debug_std_frame_5: 0.5334, loss_rl: -0.1837, loss_critic: 1.3565, loss_rl_bc: 0.0260, il_score: 0.5867, rl_score: 0.5915, prev_frame_loss_waypoint_0: 0.2294, prev_frame_loss_rl_bc_0: 0.0267, loss: 1.6862, grad_norm: 57.0436
2025-09-24 06:13:13,579 - mmdet - INFO - Epoch [8][40/3517]	lr: 4.023e-05, eta: 13:19:47, time: 0.822, data_time: 0.014, memory: 8550, loss_rec: 0.0158, loss_waypoint: 0.2181, debug_std_frame_0: 0.2930, debug_std_frame_1: 0.3196, debug_std_frame_2: 0.3648, debug_std_frame_3: 0.4227, debug_std_frame_4: 0.4849, debug_std_frame_5: 0.5420, loss_rl: -0.1643, loss_critic: 1.3784, loss_rl_bc: 0.0231, il_score: 0.5962, rl_score: 0.5867, prev_frame_loss_waypoint_0: 0.2223, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.7215, grad_norm: 60.8626
2025-09-24 06:13:30,024 - mmdet - INFO - Epoch [8][60/3517]	lr: 4.023e-05, eta: 13:19:32, time: 0.823, data_time: 0.014, memory: 8550, loss_rec: 0.0146, loss_waypoint: 0.2392, debug_std_frame_0: 0.3126, debug_std_frame_1: 0.3392, debug_std_frame_2: 0.3846, debug_std_frame_3: 0.4464, debug_std_frame_4: 0.5106, debug_std_frame_5: 0.5625, loss_rl: -0.1562, loss_critic: 1.1319, loss_rl_bc: 0.0266, il_score: 0.5842, rl_score: 0.5867, prev_frame_loss_waypoint_0: 0.2371, prev_frame_loss_rl_bc_0: 0.0298, loss: 1.5230, grad_norm: 59.7040
2025-09-24 06:13:46,316 - mmdet - INFO - Epoch [8][80/3517]	lr: 4.023e-05, eta: 13:19:17, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0155, loss_waypoint: 0.2260, debug_std_frame_0: 0.2996, debug_std_frame_1: 0.3244, debug_std_frame_2: 0.3648, debug_std_frame_3: 0.4234, debug_std_frame_4: 0.4861, debug_std_frame_5: 0.5402, loss_rl: -0.2206, loss_critic: 1.1411, loss_rl_bc: 0.0163, il_score: 0.6429, rl_score: 0.6814, prev_frame_loss_waypoint_0: 0.2415, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.4344, grad_norm: 78.5081
2025-09-24 06:14:02,899 - mmdet - INFO - Epoch [8][100/3517]	lr: 4.023e-05, eta: 13:19:02, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0173, loss_waypoint: 0.1940, debug_std_frame_0: 0.2627, debug_std_frame_1: 0.2893, debug_std_frame_2: 0.3314, debug_std_frame_3: 0.3906, debug_std_frame_4: 0.4554, debug_std_frame_5: 0.5179, loss_rl: -0.2188, loss_critic: 1.3065, loss_rl_bc: 0.0211, il_score: 0.6208, rl_score: 0.6426, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5444, grad_norm: 44.6911, il_score_sum: 60.8296, rl_score_sum: 61.8075, score_diff: -0.9779, il_win: 70.0000, rl_win: 88.0000
2025-09-24 06:14:19,176 - mmdet - INFO - Epoch [8][120/3517]	lr: 4.023e-05, eta: 13:18:46, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0168, loss_waypoint: 0.2233, debug_std_frame_0: 0.2567, debug_std_frame_1: 0.2875, debug_std_frame_2: 0.3396, debug_std_frame_3: 0.4035, debug_std_frame_4: 0.4729, debug_std_frame_5: 0.5386, loss_rl: -0.2093, loss_critic: 1.2800, loss_rl_bc: 0.0198, il_score: 0.6098, rl_score: 0.6266, prev_frame_loss_waypoint_0: 0.2227, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.5750, grad_norm: 60.7592, il_score_sum: 60.8296, rl_score_sum: 61.8075, score_diff: -0.9779, il_win: 70.0000, rl_win: 88.0000
2025-09-24 06:14:35,891 - mmdet - INFO - Epoch [8][140/3517]	lr: 4.023e-05, eta: 13:18:32, time: 0.836, data_time: 0.014, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.2061, debug_std_frame_0: 0.2409, debug_std_frame_1: 0.2754, debug_std_frame_2: 0.3293, debug_std_frame_3: 0.3972, debug_std_frame_4: 0.4638, debug_std_frame_5: 0.5300, loss_rl: -0.1965, loss_critic: 1.5652, loss_rl_bc: 0.0234, il_score: 0.6300, rl_score: 0.6189, prev_frame_loss_waypoint_0: 0.1956, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.8253, grad_norm: 50.8955, il_score_sum: 60.8296, rl_score_sum: 61.8075, score_diff: -0.9779, il_win: 70.0000, rl_win: 88.0000
2025-09-24 06:14:52,660 - mmdet - INFO - Epoch [8][160/3517]	lr: 4.023e-05, eta: 13:18:17, time: 0.838, data_time: 0.013, memory: 8550, loss_rec: 0.0166, loss_waypoint: 0.2241, debug_std_frame_0: 0.2417, debug_std_frame_1: 0.2706, debug_std_frame_2: 0.3166, debug_std_frame_3: 0.3776, debug_std_frame_4: 0.4367, debug_std_frame_5: 0.5032, loss_rl: -0.1958, loss_critic: 1.3605, loss_rl_bc: 0.0132, il_score: 0.5958, rl_score: 0.6480, prev_frame_loss_waypoint_0: 0.2229, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.6556, grad_norm: 72.5113, il_score_sum: 60.8296, rl_score_sum: 61.8075, score_diff: -0.9779, il_win: 70.0000, rl_win: 88.0000
2025-09-24 06:15:08,973 - mmdet - INFO - Epoch [8][180/3517]	lr: 4.023e-05, eta: 13:18:02, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0160, loss_waypoint: 0.1864, debug_std_frame_0: 0.2489, debug_std_frame_1: 0.2741, debug_std_frame_2: 0.3137, debug_std_frame_3: 0.3654, debug_std_frame_4: 0.4169, debug_std_frame_5: 0.4810, loss_rl: -0.2328, loss_critic: 1.5535, loss_rl_bc: 0.0116, il_score: 0.6180, rl_score: 0.6371, prev_frame_loss_waypoint_0: 0.2259, prev_frame_loss_rl_bc_0: 0.0225, loss: 1.7831, grad_norm: 64.4217, il_score_sum: 60.8296, rl_score_sum: 61.8075, score_diff: -0.9779, il_win: 70.0000, rl_win: 88.0000
2025-09-24 06:15:25,531 - mmdet - INFO - Epoch [8][200/3517]	lr: 4.023e-05, eta: 13:17:47, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0173, loss_waypoint: 0.2268, debug_std_frame_0: 0.2567, debug_std_frame_1: 0.2882, debug_std_frame_2: 0.3375, debug_std_frame_3: 0.3941, debug_std_frame_4: 0.4458, debug_std_frame_5: 0.5085, loss_rl: -0.1704, loss_critic: 1.3119, loss_rl_bc: 0.0247, il_score: 0.5921, rl_score: 0.5997, prev_frame_loss_waypoint_0: 0.2306, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.6649, grad_norm: 62.0510, il_score_sum: 61.1837, rl_score_sum: 62.6807, score_diff: -1.4970, il_win: 70.0000, rl_win: 88.5000
2025-09-24 06:15:41,884 - mmdet - INFO - Epoch [8][220/3517]	lr: 4.023e-05, eta: 13:17:32, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2160, debug_std_frame_0: 0.2797, debug_std_frame_1: 0.3087, debug_std_frame_2: 0.3593, debug_std_frame_3: 0.4192, debug_std_frame_4: 0.4777, debug_std_frame_5: 0.5418, loss_rl: -0.2402, loss_critic: 1.3847, loss_rl_bc: 0.0220, il_score: 0.6190, rl_score: 0.6320, prev_frame_loss_waypoint_0: 0.2344, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.6570, grad_norm: 67.9989, il_score_sum: 61.1837, rl_score_sum: 62.6807, score_diff: -1.4970, il_win: 70.0000, rl_win: 88.5000
2025-09-24 06:15:58,233 - mmdet - INFO - Epoch [8][240/3517]	lr: 4.023e-05, eta: 13:17:16, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0186, loss_waypoint: 0.1833, debug_std_frame_0: 0.2630, debug_std_frame_1: 0.2907, debug_std_frame_2: 0.3370, debug_std_frame_3: 0.3969, debug_std_frame_4: 0.4627, debug_std_frame_5: 0.5266, loss_rl: -0.2429, loss_critic: 1.2780, loss_rl_bc: 0.0134, il_score: 0.6249, rl_score: 0.6225, prev_frame_loss_waypoint_0: 0.2071, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.4732, grad_norm: 54.8827, il_score_sum: 61.1837, rl_score_sum: 62.6807, score_diff: -1.4970, il_win: 70.0000, rl_win: 88.5000
2025-09-24 06:16:14,748 - mmdet - INFO - Epoch [8][260/3517]	lr: 4.023e-05, eta: 13:17:01, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.2116, debug_std_frame_0: 0.2537, debug_std_frame_1: 0.2799, debug_std_frame_2: 0.3248, debug_std_frame_3: 0.3781, debug_std_frame_4: 0.4351, debug_std_frame_5: 0.5007, loss_rl: -0.2349, loss_critic: 1.3776, loss_rl_bc: 0.0191, il_score: 0.6385, rl_score: 0.6535, prev_frame_loss_waypoint_0: 0.2328, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.6455, grad_norm: 59.0375, il_score_sum: 61.1837, rl_score_sum: 62.6807, score_diff: -1.4970, il_win: 70.0000, rl_win: 88.5000
2025-09-24 06:16:30,927 - mmdet - INFO - Epoch [8][280/3517]	lr: 4.023e-05, eta: 13:16:46, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.2063, debug_std_frame_0: 0.2552, debug_std_frame_1: 0.2881, debug_std_frame_2: 0.3478, debug_std_frame_3: 0.4106, debug_std_frame_4: 0.4783, debug_std_frame_5: 0.5490, loss_rl: -0.2348, loss_critic: 1.4142, loss_rl_bc: 0.0150, il_score: 0.6243, rl_score: 0.6570, prev_frame_loss_waypoint_0: 0.2279, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.6638, grad_norm: 57.5845, il_score_sum: 61.1837, rl_score_sum: 62.6807, score_diff: -1.4970, il_win: 70.0000, rl_win: 88.5000
2025-09-24 06:16:47,272 - mmdet - INFO - Epoch [8][300/3517]	lr: 4.023e-05, eta: 13:16:30, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2124, debug_std_frame_0: 0.2433, debug_std_frame_1: 0.2716, debug_std_frame_2: 0.3318, debug_std_frame_3: 0.3985, debug_std_frame_4: 0.4704, debug_std_frame_5: 0.5446, loss_rl: -0.1909, loss_critic: 1.0796, loss_rl_bc: 0.0213, il_score: 0.6627, rl_score: 0.6378, prev_frame_loss_waypoint_0: 0.2147, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.3780, grad_norm: 64.4475, il_score_sum: 61.4077, rl_score_sum: 62.8438, score_diff: -1.4361, il_win: 70.0000, rl_win: 89.0000
2025-09-24 06:17:03,519 - mmdet - INFO - Epoch [8][320/3517]	lr: 4.023e-05, eta: 13:16:14, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.2029, debug_std_frame_0: 0.2465, debug_std_frame_1: 0.2809, debug_std_frame_2: 0.3394, debug_std_frame_3: 0.3998, debug_std_frame_4: 0.4647, debug_std_frame_5: 0.5390, loss_rl: -0.1923, loss_critic: 1.5794, loss_rl_bc: 0.0228, il_score: 0.5771, rl_score: 0.5987, prev_frame_loss_waypoint_0: 0.2255, prev_frame_loss_rl_bc_0: 0.0240, loss: 1.8797, grad_norm: 63.0044, il_score_sum: 61.4077, rl_score_sum: 62.8438, score_diff: -1.4361, il_win: 70.0000, rl_win: 89.0000
2025-09-24 06:17:19,732 - mmdet - INFO - Epoch [8][340/3517]	lr: 4.023e-05, eta: 13:15:59, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0191, loss_waypoint: 0.2168, debug_std_frame_0: 0.2642, debug_std_frame_1: 0.2952, debug_std_frame_2: 0.3455, debug_std_frame_3: 0.4019, debug_std_frame_4: 0.4602, debug_std_frame_5: 0.5295, loss_rl: -0.2313, loss_critic: 1.3564, loss_rl_bc: 0.0213, il_score: 0.6163, rl_score: 0.6149, prev_frame_loss_waypoint_0: 0.2482, prev_frame_loss_rl_bc_0: 0.0255, loss: 1.6560, grad_norm: 63.5129, il_score_sum: 61.4077, rl_score_sum: 62.8438, score_diff: -1.4361, il_win: 70.0000, rl_win: 89.0000
2025-09-24 06:17:35,934 - mmdet - INFO - Epoch [8][360/3517]	lr: 4.023e-05, eta: 13:15:43, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.2233, debug_std_frame_0: 0.2682, debug_std_frame_1: 0.3036, debug_std_frame_2: 0.3556, debug_std_frame_3: 0.4113, debug_std_frame_4: 0.4690, debug_std_frame_5: 0.5390, loss_rl: -0.2137, loss_critic: 1.3127, loss_rl_bc: 0.0217, il_score: 0.6153, rl_score: 0.6263, prev_frame_loss_waypoint_0: 0.2528, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.6401, grad_norm: 60.6189, il_score_sum: 61.4077, rl_score_sum: 62.8438, score_diff: -1.4361, il_win: 70.0000, rl_win: 89.0000
2025-09-24 06:17:52,355 - mmdet - INFO - Epoch [8][380/3517]	lr: 4.023e-05, eta: 13:15:28, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0179, loss_waypoint: 0.2582, debug_std_frame_0: 0.2927, debug_std_frame_1: 0.3256, debug_std_frame_2: 0.3723, debug_std_frame_3: 0.4292, debug_std_frame_4: 0.4884, debug_std_frame_5: 0.5569, loss_rl: -0.1169, loss_critic: 1.1372, loss_rl_bc: 0.0287, il_score: 0.5759, rl_score: 0.5923, prev_frame_loss_waypoint_0: 0.2592, prev_frame_loss_rl_bc_0: 0.0266, loss: 1.6108, grad_norm: 78.6595, il_score_sum: 61.4077, rl_score_sum: 62.8438, score_diff: -1.4361, il_win: 70.0000, rl_win: 89.0000
2025-09-24 06:18:08,762 - mmdet - INFO - Epoch [8][400/3517]	lr: 4.023e-05, eta: 13:15:13, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.1977, debug_std_frame_0: 0.2779, debug_std_frame_1: 0.3074, debug_std_frame_2: 0.3544, debug_std_frame_3: 0.4143, debug_std_frame_4: 0.4762, debug_std_frame_5: 0.5453, loss_rl: -0.1932, loss_critic: 1.4423, loss_rl_bc: 0.0168, il_score: 0.6184, rl_score: 0.6094, prev_frame_loss_waypoint_0: 0.2301, prev_frame_loss_rl_bc_0: 0.0244, loss: 1.7375, grad_norm: 67.6413, il_score_sum: 61.2842, rl_score_sum: 62.4778, score_diff: -1.1936, il_win: 70.0000, rl_win: 89.2500
2025-09-24 06:18:25,068 - mmdet - INFO - Epoch [8][420/3517]	lr: 4.023e-05, eta: 13:14:57, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0191, loss_waypoint: 0.1911, debug_std_frame_0: 0.2836, debug_std_frame_1: 0.3108, debug_std_frame_2: 0.3532, debug_std_frame_3: 0.4053, debug_std_frame_4: 0.4612, debug_std_frame_5: 0.5287, loss_rl: -0.1964, loss_critic: 1.3242, loss_rl_bc: 0.0142, il_score: 0.6313, rl_score: 0.6103, prev_frame_loss_waypoint_0: 0.2122, prev_frame_loss_rl_bc_0: 0.0173, loss: 1.5818, grad_norm: 50.3178, il_score_sum: 61.2842, rl_score_sum: 62.4778, score_diff: -1.1936, il_win: 70.0000, rl_win: 89.2500
2025-09-24 06:18:41,332 - mmdet - INFO - Epoch [8][440/3517]	lr: 4.023e-05, eta: 13:14:41, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0186, loss_waypoint: 0.2287, debug_std_frame_0: 0.2756, debug_std_frame_1: 0.3096, debug_std_frame_2: 0.3573, debug_std_frame_3: 0.4136, debug_std_frame_4: 0.4721, debug_std_frame_5: 0.5374, loss_rl: -0.1750, loss_critic: 1.3944, loss_rl_bc: 0.0239, il_score: 0.6316, rl_score: 0.6221, prev_frame_loss_waypoint_0: 0.2516, prev_frame_loss_rl_bc_0: 0.0245, loss: 1.7666, grad_norm: 67.2602, il_score_sum: 61.2842, rl_score_sum: 62.4778, score_diff: -1.1936, il_win: 70.0000, rl_win: 89.2500
2025-09-24 06:18:57,788 - mmdet - INFO - Epoch [8][460/3517]	lr: 4.023e-05, eta: 13:14:26, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0182, loss_waypoint: 0.2201, debug_std_frame_0: 0.2603, debug_std_frame_1: 0.2929, debug_std_frame_2: 0.3389, debug_std_frame_3: 0.3939, debug_std_frame_4: 0.4533, debug_std_frame_5: 0.5198, loss_rl: -0.1896, loss_critic: 1.2955, loss_rl_bc: 0.0198, il_score: 0.5847, rl_score: 0.6276, prev_frame_loss_waypoint_0: 0.2413, prev_frame_loss_rl_bc_0: 0.0240, loss: 1.6293, grad_norm: 58.0760, il_score_sum: 61.2842, rl_score_sum: 62.4778, score_diff: -1.1936, il_win: 70.0000, rl_win: 89.2500
2025-09-24 06:19:13,774 - mmdet - INFO - Epoch [8][480/3517]	lr: 4.023e-05, eta: 13:14:10, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0175, loss_waypoint: 0.2374, debug_std_frame_0: 0.2692, debug_std_frame_1: 0.3005, debug_std_frame_2: 0.3472, debug_std_frame_3: 0.4013, debug_std_frame_4: 0.4647, debug_std_frame_5: 0.5277, loss_rl: -0.1911, loss_critic: 1.3720, loss_rl_bc: 0.0240, il_score: 0.5897, rl_score: 0.5865, prev_frame_loss_waypoint_0: 0.2584, prev_frame_loss_rl_bc_0: 0.0355, loss: 1.7538, grad_norm: 58.2551, il_score_sum: 61.2842, rl_score_sum: 62.4778, score_diff: -1.1936, il_win: 70.0000, rl_win: 89.2500
2025-09-24 06:19:30,038 - mmdet - INFO - Epoch [8][500/3517]	lr: 4.023e-05, eta: 13:13:54, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2236, debug_std_frame_0: 0.2819, debug_std_frame_1: 0.3211, debug_std_frame_2: 0.3785, debug_std_frame_3: 0.4402, debug_std_frame_4: 0.5056, debug_std_frame_5: 0.5692, loss_rl: -0.1860, loss_critic: 1.3951, loss_rl_bc: 0.0261, il_score: 0.6197, rl_score: 0.5984, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.7301, grad_norm: 54.2548, il_score_sum: 61.2461, rl_score_sum: 62.1991, score_diff: -0.9529, il_win: 70.0000, rl_win: 89.4000
2025-09-24 06:19:46,162 - mmdet - INFO - Epoch [8][520/3517]	lr: 4.023e-05, eta: 13:13:38, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.2474, debug_std_frame_0: 0.2846, debug_std_frame_1: 0.3208, debug_std_frame_2: 0.3719, debug_std_frame_3: 0.4287, debug_std_frame_4: 0.4910, debug_std_frame_5: 0.5532, loss_rl: -0.2220, loss_critic: 1.5546, loss_rl_bc: 0.0253, il_score: 0.5988, rl_score: 0.6130, prev_frame_loss_waypoint_0: 0.2409, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.8851, grad_norm: 52.5744, il_score_sum: 61.2461, rl_score_sum: 62.1991, score_diff: -0.9529, il_win: 70.0000, rl_win: 89.4000
2025-09-24 06:20:02,486 - mmdet - INFO - Epoch [8][540/3517]	lr: 4.023e-05, eta: 13:13:23, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.2002, debug_std_frame_0: 0.2684, debug_std_frame_1: 0.3000, debug_std_frame_2: 0.3468, debug_std_frame_3: 0.3987, debug_std_frame_4: 0.4576, debug_std_frame_5: 0.5167, loss_rl: -0.2132, loss_critic: 1.3939, loss_rl_bc: 0.0145, il_score: 0.5860, rl_score: 0.6188, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6421, grad_norm: 57.4764, il_score_sum: 61.2461, rl_score_sum: 62.1991, score_diff: -0.9529, il_win: 70.0000, rl_win: 89.4000
2025-09-24 06:20:18,677 - mmdet - INFO - Epoch [8][560/3517]	lr: 4.023e-05, eta: 13:13:07, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0190, loss_waypoint: 0.2126, debug_std_frame_0: 0.2416, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3302, debug_std_frame_3: 0.3894, debug_std_frame_4: 0.4505, debug_std_frame_5: 0.5161, loss_rl: -0.2268, loss_critic: 1.5550, loss_rl_bc: 0.0166, il_score: 0.5822, rl_score: 0.6222, prev_frame_loss_waypoint_0: 0.2217, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.8174, grad_norm: 56.7463, il_score_sum: 61.2461, rl_score_sum: 62.1991, score_diff: -0.9529, il_win: 70.0000, rl_win: 89.4000
2025-09-24 06:20:34,633 - mmdet - INFO - Epoch [8][580/3517]	lr: 4.023e-05, eta: 13:12:51, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2088, debug_std_frame_0: 0.2517, debug_std_frame_1: 0.2872, debug_std_frame_2: 0.3448, debug_std_frame_3: 0.4072, debug_std_frame_4: 0.4724, debug_std_frame_5: 0.5346, loss_rl: -0.2290, loss_critic: 1.2108, loss_rl_bc: 0.0172, il_score: 0.6185, rl_score: 0.6225, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.4705, grad_norm: 51.2322, il_score_sum: 61.2461, rl_score_sum: 62.1991, score_diff: -0.9529, il_win: 70.0000, rl_win: 89.4000
2025-09-24 06:20:50,755 - mmdet - INFO - Epoch [8][600/3517]	lr: 4.023e-05, eta: 13:12:35, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2469, debug_std_frame_0: 0.2422, debug_std_frame_1: 0.2772, debug_std_frame_2: 0.3410, debug_std_frame_3: 0.4091, debug_std_frame_4: 0.4803, debug_std_frame_5: 0.5470, loss_rl: -0.2000, loss_critic: 1.1199, loss_rl_bc: 0.0149, il_score: 0.5889, rl_score: 0.6361, prev_frame_loss_waypoint_0: 0.2497, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.4644, grad_norm: 87.4163, il_score_sum: 61.0755, rl_score_sum: 62.0850, score_diff: -1.0095, il_win: 70.0000, rl_win: 89.6667
2025-09-24 06:21:06,797 - mmdet - INFO - Epoch [8][620/3517]	lr: 4.023e-05, eta: 13:12:19, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0182, loss_waypoint: 0.2174, debug_std_frame_0: 0.2361, debug_std_frame_1: 0.2652, debug_std_frame_2: 0.3178, debug_std_frame_3: 0.3760, debug_std_frame_4: 0.4398, debug_std_frame_5: 0.5051, loss_rl: -0.2509, loss_critic: 1.5186, loss_rl_bc: 0.0167, il_score: 0.5902, rl_score: 0.6439, prev_frame_loss_waypoint_0: 0.2198, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.7587, grad_norm: 64.2393, il_score_sum: 61.0755, rl_score_sum: 62.0850, score_diff: -1.0095, il_win: 70.0000, rl_win: 89.6667
2025-09-24 06:21:22,880 - mmdet - INFO - Epoch [8][640/3517]	lr: 4.023e-05, eta: 13:12:03, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.2554, debug_std_frame_0: 0.2378, debug_std_frame_1: 0.2705, debug_std_frame_2: 0.3317, debug_std_frame_3: 0.3985, debug_std_frame_4: 0.4683, debug_std_frame_5: 0.5349, loss_rl: -0.1689, loss_critic: 1.5022, loss_rl_bc: 0.0301, il_score: 0.5663, rl_score: 0.5738, prev_frame_loss_waypoint_0: 0.2646, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.9216, grad_norm: 78.1756, il_score_sum: 61.0755, rl_score_sum: 62.0850, score_diff: -1.0095, il_win: 70.0000, rl_win: 89.6667
2025-09-24 06:21:39,140 - mmdet - INFO - Epoch [8][660/3517]	lr: 4.023e-05, eta: 13:11:47, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.2149, debug_std_frame_0: 0.2397, debug_std_frame_1: 0.2719, debug_std_frame_2: 0.3329, debug_std_frame_3: 0.3988, debug_std_frame_4: 0.4658, debug_std_frame_5: 0.5360, loss_rl: -0.2192, loss_critic: 1.3052, loss_rl_bc: 0.0177, il_score: 0.5812, rl_score: 0.6278, prev_frame_loss_waypoint_0: 0.2278, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.5825, grad_norm: 56.0127, il_score_sum: 61.0755, rl_score_sum: 62.0850, score_diff: -1.0095, il_win: 70.0000, rl_win: 89.6667
2025-09-24 06:21:55,396 - mmdet - INFO - Epoch [8][680/3517]	lr: 4.023e-05, eta: 13:11:31, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0194, loss_waypoint: 0.2362, debug_std_frame_0: 0.2411, debug_std_frame_1: 0.2729, debug_std_frame_2: 0.3323, debug_std_frame_3: 0.3940, debug_std_frame_4: 0.4583, debug_std_frame_5: 0.5258, loss_rl: -0.1874, loss_critic: 1.2776, loss_rl_bc: 0.0274, il_score: 0.6057, rl_score: 0.6268, prev_frame_loss_waypoint_0: 0.2315, prev_frame_loss_rl_bc_0: 0.0240, loss: 1.6288, grad_norm: 78.9287, il_score_sum: 61.0755, rl_score_sum: 62.0850, score_diff: -1.0095, il_win: 70.0000, rl_win: 89.6667
2025-09-24 06:22:11,805 - mmdet - INFO - Epoch [8][700/3517]	lr: 4.023e-05, eta: 13:11:16, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2364, debug_std_frame_0: 0.2598, debug_std_frame_1: 0.2924, debug_std_frame_2: 0.3455, debug_std_frame_3: 0.4068, debug_std_frame_4: 0.4686, debug_std_frame_5: 0.5299, loss_rl: -0.1609, loss_critic: 1.4181, loss_rl_bc: 0.0175, il_score: 0.5809, rl_score: 0.6111, prev_frame_loss_waypoint_0: 0.2423, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.7898, grad_norm: 74.1382, il_score_sum: 60.6912, rl_score_sum: 62.0796, score_diff: -1.3884, il_win: 70.0000, rl_win: 90.0000
2025-09-24 06:22:28,144 - mmdet - INFO - Epoch [8][720/3517]	lr: 4.023e-05, eta: 13:11:01, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0166, loss_waypoint: 0.2338, debug_std_frame_0: 0.2463, debug_std_frame_1: 0.2771, debug_std_frame_2: 0.3308, debug_std_frame_3: 0.3892, debug_std_frame_4: 0.4475, debug_std_frame_5: 0.5065, loss_rl: -0.2554, loss_critic: 1.4419, loss_rl_bc: 0.0165, il_score: 0.5712, rl_score: 0.6625, prev_frame_loss_waypoint_0: 0.2523, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.7241, grad_norm: 83.2983, il_score_sum: 60.6912, rl_score_sum: 62.0796, score_diff: -1.3884, il_win: 70.0000, rl_win: 90.0000
2025-09-24 06:22:44,355 - mmdet - INFO - Epoch [8][740/3517]	lr: 4.023e-05, eta: 13:10:45, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0156, loss_waypoint: 0.2225, debug_std_frame_0: 0.2405, debug_std_frame_1: 0.2715, debug_std_frame_2: 0.3282, debug_std_frame_3: 0.3897, debug_std_frame_4: 0.4518, debug_std_frame_5: 0.5139, loss_rl: -0.2309, loss_critic: 1.3172, loss_rl_bc: 0.0164, il_score: 0.6331, rl_score: 0.6632, prev_frame_loss_waypoint_0: 0.2452, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.6019, grad_norm: 82.7657, il_score_sum: 60.6912, rl_score_sum: 62.0796, score_diff: -1.3884, il_win: 70.0000, rl_win: 90.0000
2025-09-24 06:23:00,372 - mmdet - INFO - Epoch [8][760/3517]	lr: 4.023e-05, eta: 13:10:29, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2091, debug_std_frame_0: 0.2303, debug_std_frame_1: 0.2587, debug_std_frame_2: 0.3159, debug_std_frame_3: 0.3747, debug_std_frame_4: 0.4340, debug_std_frame_5: 0.4937, loss_rl: -0.2628, loss_critic: 1.2918, loss_rl_bc: 0.0136, il_score: 0.6456, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.2222, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.5085, grad_norm: 49.5501, il_score_sum: 60.6912, rl_score_sum: 62.0796, score_diff: -1.3884, il_win: 70.0000, rl_win: 90.0000
2025-09-24 06:23:16,760 - mmdet - INFO - Epoch [8][780/3517]	lr: 4.023e-05, eta: 13:10:14, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.1942, debug_std_frame_0: 0.2339, debug_std_frame_1: 0.2616, debug_std_frame_2: 0.3149, debug_std_frame_3: 0.3723, debug_std_frame_4: 0.4284, debug_std_frame_5: 0.4901, loss_rl: -0.1957, loss_critic: 1.5517, loss_rl_bc: 0.0117, il_score: 0.5989, rl_score: 0.6001, prev_frame_loss_waypoint_0: 0.2254, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.8246, grad_norm: 62.9851, il_score_sum: 60.6912, rl_score_sum: 62.0796, score_diff: -1.3884, il_win: 70.0000, rl_win: 90.0000
2025-09-24 06:23:33,064 - mmdet - INFO - Epoch [8][800/3517]	lr: 4.023e-05, eta: 13:09:58, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2382, debug_std_frame_0: 0.2429, debug_std_frame_1: 0.2774, debug_std_frame_2: 0.3324, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4458, debug_std_frame_5: 0.5044, loss_rl: -0.2189, loss_critic: 0.9703, loss_rl_bc: 0.0147, il_score: 0.6293, rl_score: 0.6392, prev_frame_loss_waypoint_0: 0.2420, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.2831, grad_norm: 81.3990, il_score_sum: 60.7048, rl_score_sum: 62.3622, score_diff: -1.6574, il_win: 70.0000, rl_win: 90.3750
2025-09-24 06:23:49,211 - mmdet - INFO - Epoch [8][820/3517]	lr: 4.023e-05, eta: 13:09:42, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2145, debug_std_frame_0: 0.2496, debug_std_frame_1: 0.2826, debug_std_frame_2: 0.3357, debug_std_frame_3: 0.3909, debug_std_frame_4: 0.4466, debug_std_frame_5: 0.5036, loss_rl: -0.2075, loss_critic: 1.6574, loss_rl_bc: 0.0218, il_score: 0.6092, rl_score: 0.5968, prev_frame_loss_waypoint_0: 0.2391, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.9693, grad_norm: 68.8652, il_score_sum: 60.7048, rl_score_sum: 62.3622, score_diff: -1.6574, il_win: 70.0000, rl_win: 90.3750
2025-09-24 06:24:05,340 - mmdet - INFO - Epoch [8][840/3517]	lr: 4.023e-05, eta: 13:09:26, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.1895, debug_std_frame_0: 0.2565, debug_std_frame_1: 0.2930, debug_std_frame_2: 0.3476, debug_std_frame_3: 0.4035, debug_std_frame_4: 0.4602, debug_std_frame_5: 0.5179, loss_rl: -0.2169, loss_critic: 1.2811, loss_rl_bc: 0.0143, il_score: 0.6447, rl_score: 0.6561, prev_frame_loss_waypoint_0: 0.2145, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.5154, grad_norm: 57.2390, il_score_sum: 60.7048, rl_score_sum: 62.3622, score_diff: -1.6574, il_win: 70.0000, rl_win: 90.3750
2025-09-24 06:24:21,753 - mmdet - INFO - Epoch [8][860/3517]	lr: 4.023e-05, eta: 13:09:11, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.2429, debug_std_frame_0: 0.2638, debug_std_frame_1: 0.3025, debug_std_frame_2: 0.3599, debug_std_frame_3: 0.4171, debug_std_frame_4: 0.4768, debug_std_frame_5: 0.5388, loss_rl: -0.1589, loss_critic: 1.5285, loss_rl_bc: 0.0472, il_score: 0.6198, rl_score: 0.5838, prev_frame_loss_waypoint_0: 0.2703, prev_frame_loss_rl_bc_0: 0.0491, loss: 1.9960, grad_norm: 91.5686, il_score_sum: 60.7048, rl_score_sum: 62.3622, score_diff: -1.6574, il_win: 70.0000, rl_win: 90.3750
2025-09-24 06:24:37,850 - mmdet - INFO - Epoch [8][880/3517]	lr: 4.023e-05, eta: 13:08:55, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0167, loss_waypoint: 0.2081, debug_std_frame_0: 0.3267, debug_std_frame_1: 0.3642, debug_std_frame_2: 0.4177, debug_std_frame_3: 0.4718, debug_std_frame_4: 0.5263, debug_std_frame_5: 0.5850, loss_rl: -0.1658, loss_critic: 1.4372, loss_rl_bc: 0.0288, il_score: 0.6350, rl_score: 0.5872, prev_frame_loss_waypoint_0: 0.2328, prev_frame_loss_rl_bc_0: 0.0368, loss: 1.7948, grad_norm: 60.2898, il_score_sum: 60.7048, rl_score_sum: 62.3622, score_diff: -1.6574, il_win: 70.0000, rl_win: 90.3750
2025-09-24 06:24:54,153 - mmdet - INFO - Epoch [8][900/3517]	lr: 4.023e-05, eta: 13:08:39, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0176, loss_waypoint: 0.2236, debug_std_frame_0: 0.3175, debug_std_frame_1: 0.3454, debug_std_frame_2: 0.3873, debug_std_frame_3: 0.4331, debug_std_frame_4: 0.4800, debug_std_frame_5: 0.5339, loss_rl: -0.2905, loss_critic: 1.2105, loss_rl_bc: 0.0146, il_score: 0.6214, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.2275, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.4172, grad_norm: 72.0516, il_score_sum: 60.9156, rl_score_sum: 62.2436, score_diff: -1.3280, il_win: 70.1111, rl_win: 90.6667
2025-09-24 06:25:10,397 - mmdet - INFO - Epoch [8][920/3517]	lr: 4.023e-05, eta: 13:08:24, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0183, loss_waypoint: 0.2377, debug_std_frame_0: 0.2870, debug_std_frame_1: 0.3212, debug_std_frame_2: 0.3714, debug_std_frame_3: 0.4246, debug_std_frame_4: 0.4802, debug_std_frame_5: 0.5397, loss_rl: -0.1688, loss_critic: 1.4907, loss_rl_bc: 0.0176, il_score: 0.5371, rl_score: 0.5930, prev_frame_loss_waypoint_0: 0.2737, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.8903, grad_norm: 80.7787, il_score_sum: 60.9156, rl_score_sum: 62.2436, score_diff: -1.3280, il_win: 70.1111, rl_win: 90.6667
2025-09-24 06:25:26,878 - mmdet - INFO - Epoch [8][940/3517]	lr: 4.023e-05, eta: 13:08:09, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0176, loss_waypoint: 0.2036, debug_std_frame_0: 0.2760, debug_std_frame_1: 0.3081, debug_std_frame_2: 0.3565, debug_std_frame_3: 0.4092, debug_std_frame_4: 0.4631, debug_std_frame_5: 0.5199, loss_rl: -0.2352, loss_critic: 1.4506, loss_rl_bc: 0.0221, il_score: 0.6297, rl_score: 0.6366, prev_frame_loss_waypoint_0: 0.2221, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.7015, grad_norm: 61.9962, il_score_sum: 60.9156, rl_score_sum: 62.2436, score_diff: -1.3280, il_win: 70.1111, rl_win: 90.6667
2025-09-24 06:25:43,080 - mmdet - INFO - Epoch [8][960/3517]	lr: 4.023e-05, eta: 13:07:53, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0182, loss_waypoint: 0.2457, debug_std_frame_0: 0.2652, debug_std_frame_1: 0.2990, debug_std_frame_2: 0.3485, debug_std_frame_3: 0.4009, debug_std_frame_4: 0.4548, debug_std_frame_5: 0.5140, loss_rl: -0.1968, loss_critic: 1.1956, loss_rl_bc: 0.0294, il_score: 0.6436, rl_score: 0.6345, prev_frame_loss_waypoint_0: 0.2483, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.5630, grad_norm: 68.0731, il_score_sum: 60.9156, rl_score_sum: 62.2436, score_diff: -1.3280, il_win: 70.1111, rl_win: 90.6667
2025-09-24 06:25:59,145 - mmdet - INFO - Epoch [8][980/3517]	lr: 4.023e-05, eta: 13:07:37, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0186, loss_waypoint: 0.2401, debug_std_frame_0: 0.2696, debug_std_frame_1: 0.3074, debug_std_frame_2: 0.3690, debug_std_frame_3: 0.4293, debug_std_frame_4: 0.4877, debug_std_frame_5: 0.5506, loss_rl: -0.1698, loss_critic: 1.2078, loss_rl_bc: 0.0238, il_score: 0.6197, rl_score: 0.6172, prev_frame_loss_waypoint_0: 0.2320, prev_frame_loss_rl_bc_0: 0.0247, loss: 1.5772, grad_norm: 62.2760, il_score_sum: 60.9156, rl_score_sum: 62.2436, score_diff: -1.3280, il_win: 70.1111, rl_win: 90.6667
2025-09-24 06:26:15,351 - mmdet - INFO - Epoch [8][1000/3517]	lr: 4.023e-05, eta: 13:07:21, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.2329, debug_std_frame_0: 0.2792, debug_std_frame_1: 0.3133, debug_std_frame_2: 0.3691, debug_std_frame_3: 0.4262, debug_std_frame_4: 0.4852, debug_std_frame_5: 0.5480, loss_rl: -0.1775, loss_critic: 1.1965, loss_rl_bc: 0.0285, il_score: 0.6235, rl_score: 0.6009, prev_frame_loss_waypoint_0: 0.2445, prev_frame_loss_rl_bc_0: 0.0308, loss: 1.5714, grad_norm: 58.7191, il_score_sum: 60.9406, rl_score_sum: 62.3134, score_diff: -1.3727, il_win: 70.2000, rl_win: 91.0000
2025-09-24 06:26:31,506 - mmdet - INFO - Epoch [8][1020/3517]	lr: 4.023e-05, eta: 13:07:05, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0159, loss_waypoint: 0.2173, debug_std_frame_0: 0.2593, debug_std_frame_1: 0.2995, debug_std_frame_2: 0.3666, debug_std_frame_3: 0.4363, debug_std_frame_4: 0.4992, debug_std_frame_5: 0.5655, loss_rl: -0.1975, loss_critic: 1.2142, loss_rl_bc: 0.0206, il_score: 0.6096, rl_score: 0.6258, prev_frame_loss_waypoint_0: 0.2252, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.5166, grad_norm: 69.4626, il_score_sum: 60.9406, rl_score_sum: 62.3134, score_diff: -1.3727, il_win: 70.2000, rl_win: 91.0000
2025-09-24 06:26:47,460 - mmdet - INFO - Epoch [8][1040/3517]	lr: 4.023e-05, eta: 13:06:49, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2270, debug_std_frame_0: 0.2547, debug_std_frame_1: 0.2843, debug_std_frame_2: 0.3366, debug_std_frame_3: 0.3994, debug_std_frame_4: 0.4608, debug_std_frame_5: 0.5277, loss_rl: -0.1891, loss_critic: 1.2586, loss_rl_bc: 0.0221, il_score: 0.5819, rl_score: 0.6024, prev_frame_loss_waypoint_0: 0.2326, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.5905, grad_norm: 66.2963, il_score_sum: 60.9406, rl_score_sum: 62.3134, score_diff: -1.3727, il_win: 70.2000, rl_win: 91.0000
2025-09-24 06:27:03,653 - mmdet - INFO - Epoch [8][1060/3517]	lr: 4.023e-05, eta: 13:06:33, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0177, loss_waypoint: 0.2302, debug_std_frame_0: 0.2454, debug_std_frame_1: 0.2748, debug_std_frame_2: 0.3275, debug_std_frame_3: 0.3905, debug_std_frame_4: 0.4502, debug_std_frame_5: 0.5185, loss_rl: -0.2107, loss_critic: 1.3838, loss_rl_bc: 0.0168, il_score: 0.5589, rl_score: 0.6178, prev_frame_loss_waypoint_0: 0.2641, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.7214, grad_norm: 73.4662, il_score_sum: 60.9406, rl_score_sum: 62.3134, score_diff: -1.3727, il_win: 70.2000, rl_win: 91.0000
2025-09-24 06:27:19,603 - mmdet - INFO - Epoch [8][1080/3517]	lr: 4.023e-05, eta: 13:06:17, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.2459, debug_std_frame_0: 0.2519, debug_std_frame_1: 0.2793, debug_std_frame_2: 0.3276, debug_std_frame_3: 0.3838, debug_std_frame_4: 0.4351, debug_std_frame_5: 0.4995, loss_rl: -0.2254, loss_critic: 1.5410, loss_rl_bc: 0.0185, il_score: 0.5608, rl_score: 0.6231, prev_frame_loss_waypoint_0: 0.2729, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.8908, grad_norm: 77.8424, il_score_sum: 60.9406, rl_score_sum: 62.3134, score_diff: -1.3727, il_win: 70.2000, rl_win: 91.0000
2025-09-24 06:27:36,120 - mmdet - INFO - Epoch [8][1100/3517]	lr: 4.023e-05, eta: 13:06:01, time: 0.826, data_time: 0.012, memory: 8550, loss_rec: 0.0177, loss_waypoint: 0.2303, debug_std_frame_0: 0.2541, debug_std_frame_1: 0.2843, debug_std_frame_2: 0.3413, debug_std_frame_3: 0.4034, debug_std_frame_4: 0.4622, debug_std_frame_5: 0.5287, loss_rl: -0.2056, loss_critic: 1.1650, loss_rl_bc: 0.0129, il_score: 0.6102, rl_score: 0.6541, prev_frame_loss_waypoint_0: 0.2705, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.5111, grad_norm: 77.3283, il_score_sum: 60.7483, rl_score_sum: 62.2318, score_diff: -1.4835, il_win: 70.2727, rl_win: 91.3636
2025-09-24 06:27:52,465 - mmdet - INFO - Epoch [8][1120/3517]	lr: 4.023e-05, eta: 13:05:46, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0183, loss_waypoint: 0.2207, debug_std_frame_0: 0.2678, debug_std_frame_1: 0.2930, debug_std_frame_2: 0.3446, debug_std_frame_3: 0.3991, debug_std_frame_4: 0.4497, debug_std_frame_5: 0.5115, loss_rl: -0.1704, loss_critic: 1.7118, loss_rl_bc: 0.0288, il_score: 0.6197, rl_score: 0.5880, prev_frame_loss_waypoint_0: 0.2230, prev_frame_loss_rl_bc_0: 0.0284, loss: 2.0606, grad_norm: 77.9870, il_score_sum: 60.7483, rl_score_sum: 62.2318, score_diff: -1.4835, il_win: 70.2727, rl_win: 91.3636
2025-09-24 06:28:08,464 - mmdet - INFO - Epoch [8][1140/3517]	lr: 4.023e-05, eta: 13:05:30, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0181, loss_waypoint: 0.2115, debug_std_frame_0: 0.3116, debug_std_frame_1: 0.3390, debug_std_frame_2: 0.3874, debug_std_frame_3: 0.4366, debug_std_frame_4: 0.4836, debug_std_frame_5: 0.5408, loss_rl: -0.1730, loss_critic: 1.1889, loss_rl_bc: 0.0280, il_score: 0.6280, rl_score: 0.6067, prev_frame_loss_waypoint_0: 0.2301, prev_frame_loss_rl_bc_0: 0.0312, loss: 1.5347, grad_norm: 63.6238, il_score_sum: 60.7483, rl_score_sum: 62.2318, score_diff: -1.4835, il_win: 70.2727, rl_win: 91.3636
2025-09-24 06:28:24,472 - mmdet - INFO - Epoch [8][1160/3517]	lr: 4.023e-05, eta: 13:05:14, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.1790, debug_std_frame_0: 0.3000, debug_std_frame_1: 0.3284, debug_std_frame_2: 0.3747, debug_std_frame_3: 0.4205, debug_std_frame_4: 0.4645, debug_std_frame_5: 0.5145, loss_rl: -0.2246, loss_critic: 1.6895, loss_rl_bc: 0.0140, il_score: 0.5931, rl_score: 0.6003, prev_frame_loss_waypoint_0: 0.2112, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.9103, grad_norm: 54.5447, il_score_sum: 60.7483, rl_score_sum: 62.2318, score_diff: -1.4835, il_win: 70.2727, rl_win: 91.3636
2025-09-24 06:28:40,569 - mmdet - INFO - Epoch [8][1180/3517]	lr: 4.023e-05, eta: 13:04:58, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.2234, debug_std_frame_0: 0.2866, debug_std_frame_1: 0.3139, debug_std_frame_2: 0.3632, debug_std_frame_3: 0.4147, debug_std_frame_4: 0.4649, debug_std_frame_5: 0.5231, loss_rl: -0.2128, loss_critic: 1.1903, loss_rl_bc: 0.0148, il_score: 0.5760, rl_score: 0.6401, prev_frame_loss_waypoint_0: 0.2638, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.5220, grad_norm: 65.0312, il_score_sum: 60.7483, rl_score_sum: 62.2318, score_diff: -1.4835, il_win: 70.2727, rl_win: 91.3636
2025-09-24 06:28:56,666 - mmdet - INFO - Epoch [8][1200/3517]	lr: 4.023e-05, eta: 13:04:42, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0152, loss_waypoint: 0.2201, debug_std_frame_0: 0.2629, debug_std_frame_1: 0.2950, debug_std_frame_2: 0.3504, debug_std_frame_3: 0.4036, debug_std_frame_4: 0.4571, debug_std_frame_5: 0.5167, loss_rl: -0.1904, loss_critic: 1.1618, loss_rl_bc: 0.0164, il_score: 0.6038, rl_score: 0.6282, prev_frame_loss_waypoint_0: 0.2462, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.4888, grad_norm: 53.9042, il_score_sum: 60.7120, rl_score_sum: 62.1863, score_diff: -1.4744, il_win: 70.3333, rl_win: 91.7500
2025-09-24 06:29:12,615 - mmdet - INFO - Epoch [8][1220/3517]	lr: 4.023e-05, eta: 13:04:25, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0149, loss_waypoint: 0.2109, debug_std_frame_0: 0.2540, debug_std_frame_1: 0.2920, debug_std_frame_2: 0.3546, debug_std_frame_3: 0.4181, debug_std_frame_4: 0.4813, debug_std_frame_5: 0.5494, loss_rl: -0.2156, loss_critic: 1.2979, loss_rl_bc: 0.0153, il_score: 0.6049, rl_score: 0.5963, prev_frame_loss_waypoint_0: 0.2378, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.5804, grad_norm: 58.0852, il_score_sum: 60.7120, rl_score_sum: 62.1863, score_diff: -1.4744, il_win: 70.3333, rl_win: 91.7500
2025-09-24 06:29:28,682 - mmdet - INFO - Epoch [8][1240/3517]	lr: 4.023e-05, eta: 13:04:09, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0153, loss_waypoint: 0.1973, debug_std_frame_0: 0.2458, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3288, debug_std_frame_3: 0.3839, debug_std_frame_4: 0.4390, debug_std_frame_5: 0.4922, loss_rl: -0.2803, loss_critic: 1.3442, loss_rl_bc: 0.0114, il_score: 0.6454, rl_score: 0.6548, prev_frame_loss_waypoint_0: 0.2014, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.5048, grad_norm: 61.2731, il_score_sum: 60.7120, rl_score_sum: 62.1863, score_diff: -1.4744, il_win: 70.3333, rl_win: 91.7500
2025-09-24 06:29:44,797 - mmdet - INFO - Epoch [8][1260/3517]	lr: 4.023e-05, eta: 13:03:53, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0157, loss_waypoint: 0.2182, debug_std_frame_0: 0.2354, debug_std_frame_1: 0.2646, debug_std_frame_2: 0.3140, debug_std_frame_3: 0.3713, debug_std_frame_4: 0.4287, debug_std_frame_5: 0.4874, loss_rl: -0.2574, loss_critic: 1.3894, loss_rl_bc: 0.0164, il_score: 0.6201, rl_score: 0.6688, prev_frame_loss_waypoint_0: 0.2147, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6104, grad_norm: 68.4305, il_score_sum: 60.7120, rl_score_sum: 62.1863, score_diff: -1.4744, il_win: 70.3333, rl_win: 91.7500
2025-09-24 06:30:00,906 - mmdet - INFO - Epoch [8][1280/3517]	lr: 4.023e-05, eta: 13:03:37, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.2049, debug_std_frame_0: 0.2297, debug_std_frame_1: 0.2597, debug_std_frame_2: 0.3184, debug_std_frame_3: 0.3857, debug_std_frame_4: 0.4486, debug_std_frame_5: 0.5167, loss_rl: -0.2037, loss_critic: 1.3810, loss_rl_bc: 0.0195, il_score: 0.5907, rl_score: 0.6016, prev_frame_loss_waypoint_0: 0.2367, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.6804, grad_norm: 61.3950, il_score_sum: 60.7120, rl_score_sum: 62.1863, score_diff: -1.4744, il_win: 70.3333, rl_win: 91.7500
2025-09-24 06:30:16,987 - mmdet - INFO - Epoch [8][1300/3517]	lr: 4.023e-05, eta: 13:03:21, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0176, loss_waypoint: 0.2257, debug_std_frame_0: 0.2630, debug_std_frame_1: 0.3019, debug_std_frame_2: 0.3629, debug_std_frame_3: 0.4300, debug_std_frame_4: 0.4943, debug_std_frame_5: 0.5622, loss_rl: -0.1273, loss_critic: 1.2764, loss_rl_bc: 0.0301, il_score: 0.5975, rl_score: 0.5659, prev_frame_loss_waypoint_0: 0.2429, prev_frame_loss_rl_bc_0: 0.0301, loss: 1.6955, grad_norm: 63.5758, il_score_sum: 60.7439, rl_score_sum: 62.2398, score_diff: -1.4959, il_win: 70.3846, rl_win: 92.1538
2025-09-24 06:30:32,816 - mmdet - INFO - Epoch [8][1320/3517]	lr: 4.023e-05, eta: 13:03:04, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2134, debug_std_frame_0: 0.2937, debug_std_frame_1: 0.3298, debug_std_frame_2: 0.3865, debug_std_frame_3: 0.4489, debug_std_frame_4: 0.5063, debug_std_frame_5: 0.5734, loss_rl: -0.1539, loss_critic: 1.5582, loss_rl_bc: 0.0586, il_score: 0.5995, rl_score: 0.5405, prev_frame_loss_waypoint_0: 0.2451, prev_frame_loss_rl_bc_0: 0.0778, loss: 2.0175, grad_norm: 69.8824, il_score_sum: 60.7439, rl_score_sum: 62.2398, score_diff: -1.4959, il_win: 70.3846, rl_win: 92.1538
2025-09-24 06:30:48,822 - mmdet - INFO - Epoch [8][1340/3517]	lr: 4.023e-05, eta: 13:02:48, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2073, debug_std_frame_0: 0.3289, debug_std_frame_1: 0.3661, debug_std_frame_2: 0.4267, debug_std_frame_3: 0.4854, debug_std_frame_4: 0.5395, debug_std_frame_5: 0.5998, loss_rl: -0.1904, loss_critic: 1.3168, loss_rl_bc: 0.0257, il_score: 0.6010, rl_score: 0.5858, prev_frame_loss_waypoint_0: 0.2061, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.6134, grad_norm: 61.7340, il_score_sum: 60.7439, rl_score_sum: 62.2398, score_diff: -1.4959, il_win: 70.3846, rl_win: 92.1538
2025-09-24 06:31:04,887 - mmdet - INFO - Epoch [8][1360/3517]	lr: 4.023e-05, eta: 13:02:32, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.2023, debug_std_frame_0: 0.3247, debug_std_frame_1: 0.3579, debug_std_frame_2: 0.4094, debug_std_frame_3: 0.4616, debug_std_frame_4: 0.5078, debug_std_frame_5: 0.5649, loss_rl: -0.2124, loss_critic: 1.2499, loss_rl_bc: 0.0228, il_score: 0.6082, rl_score: 0.6095, prev_frame_loss_waypoint_0: 0.2134, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.5194, grad_norm: 58.3251, il_score_sum: 60.7439, rl_score_sum: 62.2398, score_diff: -1.4959, il_win: 70.3846, rl_win: 92.1538
2025-09-24 06:31:20,920 - mmdet - INFO - Epoch [8][1380/3517]	lr: 4.023e-05, eta: 13:02:16, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.1973, debug_std_frame_0: 0.3231, debug_std_frame_1: 0.3545, debug_std_frame_2: 0.4064, debug_std_frame_3: 0.4635, debug_std_frame_4: 0.5132, debug_std_frame_5: 0.5715, loss_rl: -0.2020, loss_critic: 1.4733, loss_rl_bc: 0.0204, il_score: 0.6300, rl_score: 0.6030, prev_frame_loss_waypoint_0: 0.2103, prev_frame_loss_rl_bc_0: 0.0246, loss: 1.7419, grad_norm: 54.0467, il_score_sum: 60.7439, rl_score_sum: 62.2398, score_diff: -1.4959, il_win: 70.3846, rl_win: 92.1538
2025-09-24 06:31:37,178 - mmdet - INFO - Epoch [8][1400/3517]	lr: 4.023e-05, eta: 13:02:00, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2167, debug_std_frame_0: 0.3103, debug_std_frame_1: 0.3410, debug_std_frame_2: 0.3899, debug_std_frame_3: 0.4422, debug_std_frame_4: 0.4904, debug_std_frame_5: 0.5474, loss_rl: -0.2348, loss_critic: 1.4093, loss_rl_bc: 0.0197, il_score: 0.5982, rl_score: 0.6398, prev_frame_loss_waypoint_0: 0.2440, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.6956, grad_norm: 65.7817, il_score_sum: 60.7679, rl_score_sum: 61.9705, score_diff: -1.2026, il_win: 70.5000, rl_win: 92.5000
2025-09-24 06:31:53,416 - mmdet - INFO - Epoch [8][1420/3517]	lr: 4.023e-05, eta: 13:01:45, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0188, loss_waypoint: 0.2188, debug_std_frame_0: 0.2944, debug_std_frame_1: 0.3281, debug_std_frame_2: 0.3854, debug_std_frame_3: 0.4471, debug_std_frame_4: 0.5015, debug_std_frame_5: 0.5650, loss_rl: -0.2056, loss_critic: 1.4234, loss_rl_bc: 0.0204, il_score: 0.5968, rl_score: 0.6076, prev_frame_loss_waypoint_0: 0.2273, prev_frame_loss_rl_bc_0: 0.0247, loss: 1.7278, grad_norm: 69.2370, il_score_sum: 60.7679, rl_score_sum: 61.9705, score_diff: -1.2026, il_win: 70.5000, rl_win: 92.5000
2025-09-24 06:32:09,312 - mmdet - INFO - Epoch [8][1440/3517]	lr: 4.023e-05, eta: 13:01:28, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0190, loss_waypoint: 0.2162, debug_std_frame_0: 0.2682, debug_std_frame_1: 0.2989, debug_std_frame_2: 0.3542, debug_std_frame_3: 0.4169, debug_std_frame_4: 0.4719, debug_std_frame_5: 0.5385, loss_rl: -0.1930, loss_critic: 1.3524, loss_rl_bc: 0.0227, il_score: 0.5905, rl_score: 0.5939, prev_frame_loss_waypoint_0: 0.2338, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.6731, grad_norm: 46.6524, il_score_sum: 60.7679, rl_score_sum: 61.9705, score_diff: -1.2026, il_win: 70.5000, rl_win: 92.5000
2025-09-24 06:32:25,092 - mmdet - INFO - Epoch [8][1460/3517]	lr: 4.023e-05, eta: 13:01:11, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0192, loss_waypoint: 0.1879, debug_std_frame_0: 0.2430, debug_std_frame_1: 0.2786, debug_std_frame_2: 0.3342, debug_std_frame_3: 0.3936, debug_std_frame_4: 0.4477, debug_std_frame_5: 0.5145, loss_rl: -0.2649, loss_critic: 1.2950, loss_rl_bc: 0.0103, il_score: 0.6646, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.2080, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.4684, grad_norm: 44.4040, il_score_sum: 60.7679, rl_score_sum: 61.9705, score_diff: -1.2026, il_win: 70.5000, rl_win: 92.5000
2025-09-24 06:32:40,995 - mmdet - INFO - Epoch [8][1480/3517]	lr: 4.023e-05, eta: 13:00:55, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0173, loss_waypoint: 0.2030, debug_std_frame_0: 0.2333, debug_std_frame_1: 0.2636, debug_std_frame_2: 0.3172, debug_std_frame_3: 0.3743, debug_std_frame_4: 0.4285, debug_std_frame_5: 0.4977, loss_rl: -0.2419, loss_critic: 1.3125, loss_rl_bc: 0.0123, il_score: 0.6251, rl_score: 0.6504, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.5492, grad_norm: 49.1459, il_score_sum: 60.7679, rl_score_sum: 61.9705, score_diff: -1.2026, il_win: 70.5000, rl_win: 92.5000
2025-09-24 06:32:57,298 - mmdet - INFO - Epoch [8][1500/3517]	lr: 4.023e-05, eta: 13:00:39, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0182, loss_waypoint: 0.2525, debug_std_frame_0: 0.2314, debug_std_frame_1: 0.2690, debug_std_frame_2: 0.3358, debug_std_frame_3: 0.4025, debug_std_frame_4: 0.4680, debug_std_frame_5: 0.5348, loss_rl: -0.1858, loss_critic: 1.1511, loss_rl_bc: 0.0226, il_score: 0.5624, rl_score: 0.6028, prev_frame_loss_waypoint_0: 0.2586, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.5398, grad_norm: 73.5377, il_score_sum: 60.8182, rl_score_sum: 62.0564, score_diff: -1.2381, il_win: 70.6000, rl_win: 92.8667
2025-09-24 06:33:13,234 - mmdet - INFO - Epoch [8][1520/3517]	lr: 4.023e-05, eta: 13:00:23, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.2322, debug_std_frame_0: 0.2450, debug_std_frame_1: 0.2845, debug_std_frame_2: 0.3485, debug_std_frame_3: 0.4180, debug_std_frame_4: 0.4857, debug_std_frame_5: 0.5584, loss_rl: -0.1872, loss_critic: 1.1735, loss_rl_bc: 0.0179, il_score: 0.5945, rl_score: 0.6303, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.5097, grad_norm: 62.5362, il_score_sum: 60.8182, rl_score_sum: 62.0564, score_diff: -1.2381, il_win: 70.6000, rl_win: 92.8667
2025-09-24 06:33:29,085 - mmdet - INFO - Epoch [8][1540/3517]	lr: 4.023e-05, eta: 13:00:07, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0177, loss_waypoint: 0.2165, debug_std_frame_0: 0.2551, debug_std_frame_1: 0.2887, debug_std_frame_2: 0.3402, debug_std_frame_3: 0.4002, debug_std_frame_4: 0.4601, debug_std_frame_5: 0.5266, loss_rl: -0.1829, loss_critic: 1.5835, loss_rl_bc: 0.0279, il_score: 0.6089, rl_score: 0.5780, prev_frame_loss_waypoint_0: 0.2146, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.9009, grad_norm: 52.8488, il_score_sum: 60.8182, rl_score_sum: 62.0564, score_diff: -1.2381, il_win: 70.6000, rl_win: 92.8667
2025-09-24 06:33:45,098 - mmdet - INFO - Epoch [8][1560/3517]	lr: 4.023e-05, eta: 12:59:50, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0187, loss_waypoint: 0.2764, debug_std_frame_0: 0.2907, debug_std_frame_1: 0.3272, debug_std_frame_2: 0.3785, debug_std_frame_3: 0.4384, debug_std_frame_4: 0.5009, debug_std_frame_5: 0.5685, loss_rl: -0.2010, loss_critic: 1.2597, loss_rl_bc: 0.0256, il_score: 0.5674, rl_score: 0.6156, prev_frame_loss_waypoint_0: 0.2915, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.6951, grad_norm: 93.3029, il_score_sum: 60.8182, rl_score_sum: 62.0564, score_diff: -1.2381, il_win: 70.6000, rl_win: 92.8667
2025-09-24 06:34:01,095 - mmdet - INFO - Epoch [8][1580/3517]	lr: 4.023e-05, eta: 12:59:34, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.2275, debug_std_frame_0: 0.2958, debug_std_frame_1: 0.3293, debug_std_frame_2: 0.3755, debug_std_frame_3: 0.4308, debug_std_frame_4: 0.4923, debug_std_frame_5: 0.5596, loss_rl: -0.2477, loss_critic: 1.3979, loss_rl_bc: 0.0181, il_score: 0.5997, rl_score: 0.6385, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.6580, grad_norm: 68.4363, il_score_sum: 60.8182, rl_score_sum: 62.0564, score_diff: -1.2381, il_win: 70.6000, rl_win: 92.8667
2025-09-24 06:34:17,035 - mmdet - INFO - Epoch [8][1600/3517]	lr: 4.023e-05, eta: 12:59:18, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.1882, debug_std_frame_0: 0.2766, debug_std_frame_1: 0.3160, debug_std_frame_2: 0.3714, debug_std_frame_3: 0.4334, debug_std_frame_4: 0.4955, debug_std_frame_5: 0.5593, loss_rl: -0.1755, loss_critic: 1.1843, loss_rl_bc: 0.0210, il_score: 0.6047, rl_score: 0.5923, prev_frame_loss_waypoint_0: 0.2002, prev_frame_loss_rl_bc_0: 0.0293, loss: 1.4646, grad_norm: 51.2556, il_score_sum: 60.6895, rl_score_sum: 62.0104, score_diff: -1.3208, il_win: 70.6875, rl_win: 93.2500
2025-09-24 06:34:32,963 - mmdet - INFO - Epoch [8][1620/3517]	lr: 4.023e-05, eta: 12:59:01, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0168, loss_waypoint: 0.1993, debug_std_frame_0: 0.2800, debug_std_frame_1: 0.3130, debug_std_frame_2: 0.3593, debug_std_frame_3: 0.4150, debug_std_frame_4: 0.4722, debug_std_frame_5: 0.5344, loss_rl: -0.1881, loss_critic: 1.2457, loss_rl_bc: 0.0186, il_score: 0.6391, rl_score: 0.6277, prev_frame_loss_waypoint_0: 0.2332, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.5507, grad_norm: 66.2115, il_score_sum: 60.6895, rl_score_sum: 62.0104, score_diff: -1.3208, il_win: 70.6875, rl_win: 93.2500
2025-09-24 06:34:48,826 - mmdet - INFO - Epoch [8][1640/3517]	lr: 4.023e-05, eta: 12:58:45, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.1877, debug_std_frame_0: 0.2695, debug_std_frame_1: 0.3009, debug_std_frame_2: 0.3479, debug_std_frame_3: 0.4049, debug_std_frame_4: 0.4608, debug_std_frame_5: 0.5216, loss_rl: -0.1749, loss_critic: 1.3835, loss_rl_bc: 0.0247, il_score: 0.6538, rl_score: 0.5970, prev_frame_loss_waypoint_0: 0.1986, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.6613, grad_norm: 51.3461, il_score_sum: 60.6895, rl_score_sum: 62.0104, score_diff: -1.3208, il_win: 70.6875, rl_win: 93.2500
2025-09-24 06:35:04,658 - mmdet - INFO - Epoch [8][1660/3517]	lr: 4.023e-05, eta: 12:58:28, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.2184, debug_std_frame_0: 0.2928, debug_std_frame_1: 0.3254, debug_std_frame_2: 0.3724, debug_std_frame_3: 0.4296, debug_std_frame_4: 0.4836, debug_std_frame_5: 0.5430, loss_rl: -0.2012, loss_critic: 1.1152, loss_rl_bc: 0.0254, il_score: 0.5978, rl_score: 0.6144, prev_frame_loss_waypoint_0: 0.2278, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.4309, grad_norm: 64.5785, il_score_sum: 60.6895, rl_score_sum: 62.0104, score_diff: -1.3208, il_win: 70.6875, rl_win: 93.2500
2025-09-24 06:35:20,717 - mmdet - INFO - Epoch [8][1680/3517]	lr: 4.023e-05, eta: 12:58:12, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.2160, debug_std_frame_0: 0.2849, debug_std_frame_1: 0.3207, debug_std_frame_2: 0.3711, debug_std_frame_3: 0.4279, debug_std_frame_4: 0.4835, debug_std_frame_5: 0.5414, loss_rl: -0.2302, loss_critic: 1.2350, loss_rl_bc: 0.0215, il_score: 0.5994, rl_score: 0.6179, prev_frame_loss_waypoint_0: 0.2317, prev_frame_loss_rl_bc_0: 0.0207, loss: 1.5126, grad_norm: 53.0177, il_score_sum: 60.6895, rl_score_sum: 62.0104, score_diff: -1.3208, il_win: 70.6875, rl_win: 93.2500
2025-09-24 06:35:36,791 - mmdet - INFO - Epoch [8][1700/3517]	lr: 4.023e-05, eta: 12:57:56, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.2037, debug_std_frame_0: 0.2569, debug_std_frame_1: 0.2854, debug_std_frame_2: 0.3338, debug_std_frame_3: 0.3888, debug_std_frame_4: 0.4419, debug_std_frame_5: 0.5034, loss_rl: -0.2078, loss_critic: 1.1127, loss_rl_bc: 0.0161, il_score: 0.6450, rl_score: 0.6448, prev_frame_loss_waypoint_0: 0.2084, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.3739, grad_norm: 47.1814, il_score_sum: 60.7628, rl_score_sum: 61.9501, score_diff: -1.1873, il_win: 70.7647, rl_win: 93.5882
2025-09-24 06:35:52,644 - mmdet - INFO - Epoch [8][1720/3517]	lr: 4.023e-05, eta: 12:57:39, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2113, debug_std_frame_0: 0.2538, debug_std_frame_1: 0.2846, debug_std_frame_2: 0.3357, debug_std_frame_3: 0.3965, debug_std_frame_4: 0.4558, debug_std_frame_5: 0.5209, loss_rl: -0.1904, loss_critic: 1.2061, loss_rl_bc: 0.0175, il_score: 0.5925, rl_score: 0.6188, prev_frame_loss_waypoint_0: 0.2480, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.5357, grad_norm: 73.4376, il_score_sum: 60.7628, rl_score_sum: 61.9501, score_diff: -1.1873, il_win: 70.7647, rl_win: 93.5882
2025-09-24 06:36:08,792 - mmdet - INFO - Epoch [8][1740/3517]	lr: 4.023e-05, eta: 12:57:24, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0183, loss_waypoint: 0.2224, debug_std_frame_0: 0.2533, debug_std_frame_1: 0.2878, debug_std_frame_2: 0.3449, debug_std_frame_3: 0.4088, debug_std_frame_4: 0.4706, debug_std_frame_5: 0.5333, loss_rl: -0.2194, loss_critic: 1.2106, loss_rl_bc: 0.0155, il_score: 0.6234, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.2346, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.5032, grad_norm: 61.8535, il_score_sum: 60.7628, rl_score_sum: 61.9501, score_diff: -1.1873, il_win: 70.7647, rl_win: 93.5882
2025-09-24 06:36:24,842 - mmdet - INFO - Epoch [8][1760/3517]	lr: 4.023e-05, eta: 12:57:07, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.2061, debug_std_frame_0: 0.2499, debug_std_frame_1: 0.2776, debug_std_frame_2: 0.3208, debug_std_frame_3: 0.3703, debug_std_frame_4: 0.4198, debug_std_frame_5: 0.4781, loss_rl: -0.2468, loss_critic: 1.7501, loss_rl_bc: 0.0212, il_score: 0.5957, rl_score: 0.6259, prev_frame_loss_waypoint_0: 0.2199, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.9862, grad_norm: 64.6900, il_score_sum: 60.7628, rl_score_sum: 61.9501, score_diff: -1.1873, il_win: 70.7647, rl_win: 93.5882
2025-09-24 06:36:40,869 - mmdet - INFO - Epoch [8][1780/3517]	lr: 4.023e-05, eta: 12:56:51, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2052, debug_std_frame_0: 0.2631, debug_std_frame_1: 0.2975, debug_std_frame_2: 0.3529, debug_std_frame_3: 0.4130, debug_std_frame_4: 0.4713, debug_std_frame_5: 0.5337, loss_rl: -0.1913, loss_critic: 1.2801, loss_rl_bc: 0.0177, il_score: 0.6252, rl_score: 0.6131, prev_frame_loss_waypoint_0: 0.2478, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.6026, grad_norm: 83.3832, il_score_sum: 60.7628, rl_score_sum: 61.9501, score_diff: -1.1873, il_win: 70.7647, rl_win: 93.5882
2025-09-24 06:36:56,987 - mmdet - INFO - Epoch [8][1800/3517]	lr: 4.023e-05, eta: 12:56:35, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0179, loss_waypoint: 0.2266, debug_std_frame_0: 0.2668, debug_std_frame_1: 0.2956, debug_std_frame_2: 0.3421, debug_std_frame_3: 0.3956, debug_std_frame_4: 0.4494, debug_std_frame_5: 0.5065, loss_rl: -0.2565, loss_critic: 1.4021, loss_rl_bc: 0.0185, il_score: 0.6048, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.2341, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.6654, grad_norm: 64.4871, il_score_sum: 60.7872, rl_score_sum: 62.0060, score_diff: -1.2188, il_win: 70.8333, rl_win: 93.9444
2025-09-24 06:37:13,061 - mmdet - INFO - Epoch [8][1820/3517]	lr: 4.023e-05, eta: 12:56:19, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0167, loss_waypoint: 0.2097, debug_std_frame_0: 0.2645, debug_std_frame_1: 0.2933, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.3905, debug_std_frame_4: 0.4446, debug_std_frame_5: 0.5055, loss_rl: -0.2347, loss_critic: 1.4803, loss_rl_bc: 0.0203, il_score: 0.6116, rl_score: 0.6385, prev_frame_loss_waypoint_0: 0.2253, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.7387, grad_norm: 60.0129, il_score_sum: 60.7872, rl_score_sum: 62.0060, score_diff: -1.2188, il_win: 70.8333, rl_win: 93.9444
2025-09-24 06:37:29,069 - mmdet - INFO - Epoch [8][1840/3517]	lr: 4.023e-05, eta: 12:56:03, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.2259, debug_std_frame_0: 0.2670, debug_std_frame_1: 0.2992, debug_std_frame_2: 0.3521, debug_std_frame_3: 0.4114, debug_std_frame_4: 0.4680, debug_std_frame_5: 0.5271, loss_rl: -0.2067, loss_critic: 1.5010, loss_rl_bc: 0.0226, il_score: 0.5827, rl_score: 0.6053, prev_frame_loss_waypoint_0: 0.2442, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.8259, grad_norm: 71.8829, il_score_sum: 60.7872, rl_score_sum: 62.0060, score_diff: -1.2188, il_win: 70.8333, rl_win: 93.9444
2025-09-24 06:37:45,001 - mmdet - INFO - Epoch [8][1860/3517]	lr: 4.023e-05, eta: 12:55:47, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0188, loss_waypoint: 0.2970, debug_std_frame_0: 0.2967, debug_std_frame_1: 0.3281, debug_std_frame_2: 0.3817, debug_std_frame_3: 0.4413, debug_std_frame_4: 0.4993, debug_std_frame_5: 0.5561, loss_rl: -0.1532, loss_critic: 1.4981, loss_rl_bc: 0.0402, il_score: 0.5521, rl_score: 0.5685, prev_frame_loss_waypoint_0: 0.3169, prev_frame_loss_rl_bc_0: 0.0409, loss: 2.0587, grad_norm: 100.2590, il_score_sum: 60.7872, rl_score_sum: 62.0060, score_diff: -1.2188, il_win: 70.8333, rl_win: 93.9444
2025-09-24 06:38:01,038 - mmdet - INFO - Epoch [8][1880/3517]	lr: 4.023e-05, eta: 12:55:31, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0183, loss_waypoint: 0.2576, debug_std_frame_0: 0.3205, debug_std_frame_1: 0.3530, debug_std_frame_2: 0.4071, debug_std_frame_3: 0.4636, debug_std_frame_4: 0.5221, debug_std_frame_5: 0.5836, loss_rl: -0.1327, loss_critic: 1.2484, loss_rl_bc: 0.0393, il_score: 0.5746, rl_score: 0.5470, prev_frame_loss_waypoint_0: 0.2727, prev_frame_loss_rl_bc_0: 0.0441, loss: 1.7478, grad_norm: 65.1865, il_score_sum: 60.7872, rl_score_sum: 62.0060, score_diff: -1.2188, il_win: 70.8333, rl_win: 93.9444
2025-09-24 06:38:17,212 - mmdet - INFO - Epoch [8][1900/3517]	lr: 4.023e-05, eta: 12:55:15, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0181, loss_waypoint: 0.2377, debug_std_frame_0: 0.3494, debug_std_frame_1: 0.3805, debug_std_frame_2: 0.4295, debug_std_frame_3: 0.4817, debug_std_frame_4: 0.5346, debug_std_frame_5: 0.5941, loss_rl: -0.1467, loss_critic: 1.4418, loss_rl_bc: 0.0421, il_score: 0.5979, rl_score: 0.5503, prev_frame_loss_waypoint_0: 0.2345, prev_frame_loss_rl_bc_0: 0.0368, loss: 1.8643, grad_norm: 57.9145, il_score_sum: 60.6772, rl_score_sum: 61.8957, score_diff: -1.2185, il_win: 70.8947, rl_win: 94.3158
2025-09-24 06:38:33,174 - mmdet - INFO - Epoch [8][1920/3517]	lr: 4.023e-05, eta: 12:54:58, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0182, loss_waypoint: 0.1982, debug_std_frame_0: 0.3735, debug_std_frame_1: 0.4040, debug_std_frame_2: 0.4504, debug_std_frame_3: 0.4994, debug_std_frame_4: 0.5511, debug_std_frame_5: 0.6101, loss_rl: -0.2251, loss_critic: 1.2163, loss_rl_bc: 0.0231, il_score: 0.6125, rl_score: 0.5742, prev_frame_loss_waypoint_0: 0.2222, prev_frame_loss_rl_bc_0: 0.0294, loss: 1.4823, grad_norm: 43.2307, il_score_sum: 60.6772, rl_score_sum: 61.8957, score_diff: -1.2185, il_win: 70.8947, rl_win: 94.3158
2025-09-24 06:38:49,106 - mmdet - INFO - Epoch [8][1940/3517]	lr: 4.023e-05, eta: 12:54:42, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0177, loss_waypoint: 0.2236, debug_std_frame_0: 0.3665, debug_std_frame_1: 0.3961, debug_std_frame_2: 0.4412, debug_std_frame_3: 0.4911, debug_std_frame_4: 0.5395, debug_std_frame_5: 0.5917, loss_rl: -0.2720, loss_critic: 1.5429, loss_rl_bc: 0.0208, il_score: 0.5997, rl_score: 0.6337, prev_frame_loss_waypoint_0: 0.2480, prev_frame_loss_rl_bc_0: 0.0260, loss: 1.8069, grad_norm: 71.4925, il_score_sum: 60.6772, rl_score_sum: 61.8957, score_diff: -1.2185, il_win: 70.8947, rl_win: 94.3158
2025-09-24 06:39:05,072 - mmdet - INFO - Epoch [8][1960/3517]	lr: 4.023e-05, eta: 12:54:26, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.2081, debug_std_frame_0: 0.3115, debug_std_frame_1: 0.3381, debug_std_frame_2: 0.3795, debug_std_frame_3: 0.4262, debug_std_frame_4: 0.4733, debug_std_frame_5: 0.5281, loss_rl: -0.2288, loss_critic: 1.2349, loss_rl_bc: 0.0156, il_score: 0.6236, rl_score: 0.6463, prev_frame_loss_waypoint_0: 0.2152, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.4812, grad_norm: 53.8073, il_score_sum: 60.6772, rl_score_sum: 61.8957, score_diff: -1.2185, il_win: 70.8947, rl_win: 94.3158
2025-09-24 06:39:21,138 - mmdet - INFO - Epoch [8][1980/3517]	lr: 4.023e-05, eta: 12:54:10, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0178, loss_waypoint: 0.2201, debug_std_frame_0: 0.2676, debug_std_frame_1: 0.2956, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.3863, debug_std_frame_4: 0.4325, debug_std_frame_5: 0.4795, loss_rl: -0.2693, loss_critic: 1.3160, loss_rl_bc: 0.0167, il_score: 0.6120, rl_score: 0.6414, prev_frame_loss_waypoint_0: 0.2433, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.5634, grad_norm: 56.6876, il_score_sum: 60.6772, rl_score_sum: 61.8957, score_diff: -1.2185, il_win: 70.8947, rl_win: 94.3158
2025-09-24 06:39:37,342 - mmdet - INFO - Epoch [8][2000/3517]	lr: 4.023e-05, eta: 12:53:54, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.2268, debug_std_frame_0: 0.2776, debug_std_frame_1: 0.3065, debug_std_frame_2: 0.3538, debug_std_frame_3: 0.4062, debug_std_frame_4: 0.4551, debug_std_frame_5: 0.5065, loss_rl: -0.2406, loss_critic: 1.3002, loss_rl_bc: 0.0156, il_score: 0.5884, rl_score: 0.6366, prev_frame_loss_waypoint_0: 0.2456, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.5831, grad_norm: 82.0406, il_score_sum: 60.6888, rl_score_sum: 61.8608, score_diff: -1.1720, il_win: 70.9500, rl_win: 94.6500
2025-09-24 06:39:53,422 - mmdet - INFO - Epoch [8][2020/3517]	lr: 4.023e-05, eta: 12:53:38, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.2420, debug_std_frame_0: 0.2676, debug_std_frame_1: 0.2942, debug_std_frame_2: 0.3390, debug_std_frame_3: 0.3888, debug_std_frame_4: 0.4377, debug_std_frame_5: 0.4838, loss_rl: -0.2693, loss_critic: 1.4892, loss_rl_bc: 0.0167, il_score: 0.5733, rl_score: 0.6377, prev_frame_loss_waypoint_0: 0.2728, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.7906, grad_norm: 78.3979, il_score_sum: 60.6888, rl_score_sum: 61.8608, score_diff: -1.1720, il_win: 70.9500, rl_win: 94.6500
2025-09-24 06:40:09,279 - mmdet - INFO - Epoch [8][2040/3517]	lr: 4.023e-05, eta: 12:53:21, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.1922, debug_std_frame_0: 0.2735, debug_std_frame_1: 0.2981, debug_std_frame_2: 0.3383, debug_std_frame_3: 0.3848, debug_std_frame_4: 0.4312, debug_std_frame_5: 0.4832, loss_rl: -0.1830, loss_critic: 1.1782, loss_rl_bc: 0.0159, il_score: 0.6194, rl_score: 0.6103, prev_frame_loss_waypoint_0: 0.2332, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.4778, grad_norm: 74.3764, il_score_sum: 60.6888, rl_score_sum: 61.8608, score_diff: -1.1720, il_win: 70.9500, rl_win: 94.6500
2025-09-24 06:40:25,209 - mmdet - INFO - Epoch [8][2060/3517]	lr: 4.023e-05, eta: 12:53:05, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0170, loss_waypoint: 0.2064, debug_std_frame_0: 0.3103, debug_std_frame_1: 0.3373, debug_std_frame_2: 0.3765, debug_std_frame_3: 0.4254, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5221, loss_rl: -0.1806, loss_critic: 1.5042, loss_rl_bc: 0.0322, il_score: 0.6187, rl_score: 0.5828, prev_frame_loss_waypoint_0: 0.2185, prev_frame_loss_rl_bc_0: 0.0319, loss: 1.8297, grad_norm: 70.2475, il_score_sum: 60.6888, rl_score_sum: 61.8608, score_diff: -1.1720, il_win: 70.9500, rl_win: 94.6500
2025-09-24 06:40:41,129 - mmdet - INFO - Epoch [8][2080/3517]	lr: 4.023e-05, eta: 12:52:49, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.1659, debug_std_frame_0: 0.3163, debug_std_frame_1: 0.3361, debug_std_frame_2: 0.3664, debug_std_frame_3: 0.4068, debug_std_frame_4: 0.4498, debug_std_frame_5: 0.4963, loss_rl: -0.2651, loss_critic: 1.2913, loss_rl_bc: 0.0101, il_score: 0.6705, rl_score: 0.6586, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.4181, grad_norm: 55.4985, il_score_sum: 60.6888, rl_score_sum: 61.8608, score_diff: -1.1720, il_win: 70.9500, rl_win: 94.6500
2025-09-24 06:40:57,180 - mmdet - INFO - Epoch [8][2100/3517]	lr: 4.023e-05, eta: 12:52:32, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0162, loss_waypoint: 0.2116, debug_std_frame_0: 0.3022, debug_std_frame_1: 0.3289, debug_std_frame_2: 0.3684, debug_std_frame_3: 0.4202, debug_std_frame_4: 0.4717, debug_std_frame_5: 0.5254, loss_rl: -0.1735, loss_critic: 1.5427, loss_rl_bc: 0.0454, il_score: 0.6467, rl_score: 0.5821, prev_frame_loss_waypoint_0: 0.2081, prev_frame_loss_rl_bc_0: 0.0425, loss: 1.8930, grad_norm: 57.1663, il_score_sum: 60.7166, rl_score_sum: 61.8880, score_diff: -1.1714, il_win: 71.0500, rl_win: 95.3000
2025-09-24 06:41:13,013 - mmdet - INFO - Epoch [8][2120/3517]	lr: 4.023e-05, eta: 12:52:16, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0168, loss_waypoint: 0.2302, debug_std_frame_0: 0.3598, debug_std_frame_1: 0.3847, debug_std_frame_2: 0.4253, debug_std_frame_3: 0.4747, debug_std_frame_4: 0.5257, debug_std_frame_5: 0.5764, loss_rl: -0.1799, loss_critic: 1.3102, loss_rl_bc: 0.0376, il_score: 0.6267, rl_score: 0.5524, prev_frame_loss_waypoint_0: 0.2347, prev_frame_loss_rl_bc_0: 0.0399, loss: 1.6896, grad_norm: 65.1365, il_score_sum: 60.7166, rl_score_sum: 61.8880, score_diff: -1.1714, il_win: 71.0500, rl_win: 95.3000
2025-09-24 06:41:29,081 - mmdet - INFO - Epoch [8][2140/3517]	lr: 4.023e-05, eta: 12:52:00, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0173, loss_waypoint: 0.2247, debug_std_frame_0: 0.3766, debug_std_frame_1: 0.4001, debug_std_frame_2: 0.4384, debug_std_frame_3: 0.4842, debug_std_frame_4: 0.5354, debug_std_frame_5: 0.5893, loss_rl: -0.2321, loss_critic: 1.5982, loss_rl_bc: 0.0224, il_score: 0.5853, rl_score: 0.6136, prev_frame_loss_waypoint_0: 0.2314, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.8839, grad_norm: 65.2552, il_score_sum: 60.7166, rl_score_sum: 61.8880, score_diff: -1.1714, il_win: 71.0500, rl_win: 95.3000
2025-09-24 06:41:45,132 - mmdet - INFO - Epoch [8][2160/3517]	lr: 4.023e-05, eta: 12:51:44, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0172, loss_waypoint: 0.2032, debug_std_frame_0: 0.3289, debug_std_frame_1: 0.3558, debug_std_frame_2: 0.3960, debug_std_frame_3: 0.4462, debug_std_frame_4: 0.4970, debug_std_frame_5: 0.5522, loss_rl: -0.2541, loss_critic: 1.3977, loss_rl_bc: 0.0157, il_score: 0.5982, rl_score: 0.6325, prev_frame_loss_waypoint_0: 0.2380, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.6363, grad_norm: 63.3412, il_score_sum: 60.7166, rl_score_sum: 61.8880, score_diff: -1.1714, il_win: 71.0500, rl_win: 95.3000
2025-09-24 06:42:01,095 - mmdet - INFO - Epoch [8][2180/3517]	lr: 4.023e-05, eta: 12:51:27, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0171, loss_waypoint: 0.2154, debug_std_frame_0: 0.2970, debug_std_frame_1: 0.3236, debug_std_frame_2: 0.3640, debug_std_frame_3: 0.4135, debug_std_frame_4: 0.4649, debug_std_frame_5: 0.5178, loss_rl: -0.2286, loss_critic: 1.2580, loss_rl_bc: 0.0209, il_score: 0.6089, rl_score: 0.6389, prev_frame_loss_waypoint_0: 0.2485, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.5506, grad_norm: 60.8418, il_score_sum: 60.7166, rl_score_sum: 61.8880, score_diff: -1.1714, il_win: 71.0500, rl_win: 95.3000
2025-09-24 06:42:17,107 - mmdet - INFO - Epoch [8][2200/3517]	lr: 4.023e-05, eta: 12:51:11, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.2157, debug_std_frame_0: 0.2836, debug_std_frame_1: 0.3110, debug_std_frame_2: 0.3569, debug_std_frame_3: 0.4122, debug_std_frame_4: 0.4670, debug_std_frame_5: 0.5222, loss_rl: -0.1589, loss_critic: 1.5090, loss_rl_bc: 0.0284, il_score: 0.5803, rl_score: 0.5702, prev_frame_loss_waypoint_0: 0.2307, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.8700, grad_norm: 58.0942, il_score_sum: 60.6995, rl_score_sum: 61.7399, score_diff: -1.0404, il_win: 71.1500, rl_win: 95.9000
2025-09-24 06:42:32,991 - mmdet - INFO - Epoch [8][2220/3517]	lr: 4.023e-05, eta: 12:50:55, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2324, debug_std_frame_0: 0.2894, debug_std_frame_1: 0.3198, debug_std_frame_2: 0.3662, debug_std_frame_3: 0.4250, debug_std_frame_4: 0.4827, debug_std_frame_5: 0.5400, loss_rl: -0.1791, loss_critic: 1.3575, loss_rl_bc: 0.0317, il_score: 0.5731, rl_score: 0.5636, prev_frame_loss_waypoint_0: 0.2598, prev_frame_loss_rl_bc_0: 0.0382, loss: 1.7589, grad_norm: 75.7989, il_score_sum: 60.6995, rl_score_sum: 61.7399, score_diff: -1.0404, il_win: 71.1500, rl_win: 95.9000
2025-09-24 06:42:48,890 - mmdet - INFO - Epoch [8][2240/3517]	lr: 4.023e-05, eta: 12:50:38, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.2393, debug_std_frame_0: 0.3218, debug_std_frame_1: 0.3524, debug_std_frame_2: 0.4052, debug_std_frame_3: 0.4700, debug_std_frame_4: 0.5315, debug_std_frame_5: 0.5930, loss_rl: -0.1811, loss_critic: 1.2170, loss_rl_bc: 0.0301, il_score: 0.5674, rl_score: 0.5528, prev_frame_loss_waypoint_0: 0.2591, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.6125, grad_norm: 83.6719, il_score_sum: 60.6995, rl_score_sum: 61.7399, score_diff: -1.0404, il_win: 71.1500, rl_win: 95.9000
2025-09-24 06:43:04,644 - mmdet - INFO - Epoch [8][2260/3517]	lr: 4.023e-05, eta: 12:50:21, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0176, loss_waypoint: 0.2094, debug_std_frame_0: 0.3461, debug_std_frame_1: 0.3671, debug_std_frame_2: 0.4059, debug_std_frame_3: 0.4581, debug_std_frame_4: 0.5058, debug_std_frame_5: 0.5563, loss_rl: -0.2105, loss_critic: 1.3349, loss_rl_bc: 0.0196, il_score: 0.5711, rl_score: 0.6142, prev_frame_loss_waypoint_0: 0.2405, prev_frame_loss_rl_bc_0: 0.0284, loss: 1.6399, grad_norm: 79.2363, il_score_sum: 60.6995, rl_score_sum: 61.7399, score_diff: -1.0404, il_win: 71.1500, rl_win: 95.9000
2025-09-24 06:43:20,781 - mmdet - INFO - Epoch [8][2280/3517]	lr: 4.023e-05, eta: 12:50:06, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0196, loss_waypoint: 0.2320, debug_std_frame_0: 0.3484, debug_std_frame_1: 0.3735, debug_std_frame_2: 0.4151, debug_std_frame_3: 0.4753, debug_std_frame_4: 0.5312, debug_std_frame_5: 0.5841, loss_rl: -0.1728, loss_critic: 1.0964, loss_rl_bc: 0.0380, il_score: 0.6160, rl_score: 0.5815, prev_frame_loss_waypoint_0: 0.2404, prev_frame_loss_rl_bc_0: 0.0376, loss: 1.4912, grad_norm: 50.0226, il_score_sum: 60.6995, rl_score_sum: 61.7399, score_diff: -1.0404, il_win: 71.1500, rl_win: 95.9000
2025-09-24 06:43:37,077 - mmdet - INFO - Epoch [8][2300/3517]	lr: 4.023e-05, eta: 12:49:50, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0190, loss_waypoint: 0.2531, debug_std_frame_0: 0.3740, debug_std_frame_1: 0.3982, debug_std_frame_2: 0.4411, debug_std_frame_3: 0.4986, debug_std_frame_4: 0.5526, debug_std_frame_5: 0.6054, loss_rl: -0.2596, loss_critic: 1.3112, loss_rl_bc: 0.0229, il_score: 0.6014, rl_score: 0.6461, prev_frame_loss_waypoint_0: 0.2493, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.6172, grad_norm: 89.8981, il_score_sum: 60.5201, rl_score_sum: 61.4584, score_diff: -0.9383, il_win: 71.2500, rl_win: 96.4500
2025-09-24 06:43:53,091 - mmdet - INFO - Epoch [8][2320/3517]	lr: 4.023e-05, eta: 12:49:34, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0191, loss_waypoint: 0.2017, debug_std_frame_0: 0.3250, debug_std_frame_1: 0.3500, debug_std_frame_2: 0.3960, debug_std_frame_3: 0.4567, debug_std_frame_4: 0.5142, debug_std_frame_5: 0.5696, loss_rl: -0.2412, loss_critic: 1.5262, loss_rl_bc: 0.0149, il_score: 0.5912, rl_score: 0.6354, prev_frame_loss_waypoint_0: 0.2128, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.7501, grad_norm: 53.1139, il_score_sum: 60.5201, rl_score_sum: 61.4584, score_diff: -0.9383, il_win: 71.2500, rl_win: 96.4500
2025-09-24 06:44:09,150 - mmdet - INFO - Epoch [8][2340/3517]	lr: 4.023e-05, eta: 12:49:18, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0196, loss_waypoint: 0.2199, debug_std_frame_0: 0.2858, debug_std_frame_1: 0.3139, debug_std_frame_2: 0.3605, debug_std_frame_3: 0.4296, debug_std_frame_4: 0.4906, debug_std_frame_5: 0.5515, loss_rl: -0.1423, loss_critic: 1.2894, loss_rl_bc: 0.0255, il_score: 0.6407, rl_score: 0.6082, prev_frame_loss_waypoint_0: 0.2302, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.6650, grad_norm: 50.1344, il_score_sum: 60.5201, rl_score_sum: 61.4584, score_diff: -0.9383, il_win: 71.2500, rl_win: 96.4500
2025-09-24 06:44:25,195 - mmdet - INFO - Epoch [8][2360/3517]	lr: 4.023e-05, eta: 12:49:02, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0187, loss_waypoint: 0.1979, debug_std_frame_0: 0.2813, debug_std_frame_1: 0.3091, debug_std_frame_2: 0.3572, debug_std_frame_3: 0.4198, debug_std_frame_4: 0.4798, debug_std_frame_5: 0.5364, loss_rl: -0.2566, loss_critic: 1.3075, loss_rl_bc: 0.0181, il_score: 0.6097, rl_score: 0.6298, prev_frame_loss_waypoint_0: 0.2277, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.5324, grad_norm: 68.0669, il_score_sum: 60.5201, rl_score_sum: 61.4584, score_diff: -0.9383, il_win: 71.2500, rl_win: 96.4500
2025-09-24 06:44:41,502 - mmdet - INFO - Epoch [8][2380/3517]	lr: 4.023e-05, eta: 12:48:46, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0187, loss_waypoint: 0.2133, debug_std_frame_0: 0.2696, debug_std_frame_1: 0.3015, debug_std_frame_2: 0.3537, debug_std_frame_3: 0.4219, debug_std_frame_4: 0.4854, debug_std_frame_5: 0.5404, loss_rl: -0.2769, loss_critic: 1.5221, loss_rl_bc: 0.0144, il_score: 0.5944, rl_score: 0.6549, prev_frame_loss_waypoint_0: 0.2283, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.7354, grad_norm: 70.8126, il_score_sum: 60.5201, rl_score_sum: 61.4584, score_diff: -0.9383, il_win: 71.2500, rl_win: 96.4500
2025-09-24 06:44:57,579 - mmdet - INFO - Epoch [8][2400/3517]	lr: 4.023e-05, eta: 12:48:30, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2096, debug_std_frame_0: 0.2557, debug_std_frame_1: 0.2867, debug_std_frame_2: 0.3391, debug_std_frame_3: 0.4063, debug_std_frame_4: 0.4720, debug_std_frame_5: 0.5301, loss_rl: -0.1949, loss_critic: 1.2141, loss_rl_bc: 0.0179, il_score: 0.5988, rl_score: 0.6107, prev_frame_loss_waypoint_0: 0.2465, prev_frame_loss_rl_bc_0: 0.0243, loss: 1.5376, grad_norm: 68.1687, il_score_sum: 60.5186, rl_score_sum: 61.5658, score_diff: -1.0472, il_win: 71.3500, rl_win: 97.0500
2025-09-24 06:45:13,516 - mmdet - INFO - Epoch [8][2420/3517]	lr: 4.023e-05, eta: 12:48:14, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.1751, debug_std_frame_0: 0.2459, debug_std_frame_1: 0.2697, debug_std_frame_2: 0.3175, debug_std_frame_3: 0.3763, debug_std_frame_4: 0.4361, debug_std_frame_5: 0.4937, loss_rl: -0.2460, loss_critic: 1.4135, loss_rl_bc: 0.0110, il_score: 0.5937, rl_score: 0.6123, prev_frame_loss_waypoint_0: 0.1896, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.5731, grad_norm: 44.5504, il_score_sum: 60.5186, rl_score_sum: 61.5658, score_diff: -1.0472, il_win: 71.3500, rl_win: 97.0500
2025-09-24 06:45:29,484 - mmdet - INFO - Epoch [8][2440/3517]	lr: 4.023e-05, eta: 12:47:57, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.2024, debug_std_frame_0: 0.2436, debug_std_frame_1: 0.2724, debug_std_frame_2: 0.3234, debug_std_frame_3: 0.3864, debug_std_frame_4: 0.4468, debug_std_frame_5: 0.5071, loss_rl: -0.2414, loss_critic: 1.6239, loss_rl_bc: 0.0162, il_score: 0.6018, rl_score: 0.6316, prev_frame_loss_waypoint_0: 0.2024, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.8362, grad_norm: 57.9137, il_score_sum: 60.5186, rl_score_sum: 61.5658, score_diff: -1.0472, il_win: 71.3500, rl_win: 97.0500
2025-09-24 06:45:45,717 - mmdet - INFO - Epoch [8][2460/3517]	lr: 4.023e-05, eta: 12:47:42, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.2096, debug_std_frame_0: 0.2633, debug_std_frame_1: 0.2929, debug_std_frame_2: 0.3424, debug_std_frame_3: 0.4045, debug_std_frame_4: 0.4665, debug_std_frame_5: 0.5332, loss_rl: -0.1726, loss_critic: 1.3214, loss_rl_bc: 0.0279, il_score: 0.6416, rl_score: 0.6126, prev_frame_loss_waypoint_0: 0.2188, prev_frame_loss_rl_bc_0: 0.0269, loss: 1.6513, grad_norm: 70.5166, il_score_sum: 60.5186, rl_score_sum: 61.5658, score_diff: -1.0472, il_win: 71.3500, rl_win: 97.0500
2025-09-24 06:46:01,843 - mmdet - INFO - Epoch [8][2480/3517]	lr: 4.023e-05, eta: 12:47:26, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0187, loss_waypoint: 0.2306, debug_std_frame_0: 0.2760, debug_std_frame_1: 0.3069, debug_std_frame_2: 0.3576, debug_std_frame_3: 0.4224, debug_std_frame_4: 0.4862, debug_std_frame_5: 0.5555, loss_rl: -0.2039, loss_critic: 1.4183, loss_rl_bc: 0.0200, il_score: 0.5647, rl_score: 0.5951, prev_frame_loss_waypoint_0: 0.2347, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.7371, grad_norm: 66.6624, il_score_sum: 60.5186, rl_score_sum: 61.5658, score_diff: -1.0472, il_win: 71.3500, rl_win: 97.0500
2025-09-24 06:46:17,960 - mmdet - INFO - Epoch [8][2500/3517]	lr: 4.023e-05, eta: 12:47:10, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.2180, debug_std_frame_0: 0.2650, debug_std_frame_1: 0.2955, debug_std_frame_2: 0.3478, debug_std_frame_3: 0.4142, debug_std_frame_4: 0.4775, debug_std_frame_5: 0.5461, loss_rl: -0.1839, loss_critic: 1.2690, loss_rl_bc: 0.0204, il_score: 0.5976, rl_score: 0.6001, prev_frame_loss_waypoint_0: 0.2346, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.5962, grad_norm: 50.8571, il_score_sum: 60.4621, rl_score_sum: 61.5728, score_diff: -1.1107, il_win: 71.4500, rl_win: 97.7000
2025-09-24 06:46:34,018 - mmdet - INFO - Epoch [8][2520/3517]	lr: 4.023e-05, eta: 12:46:54, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0181, loss_waypoint: 0.2404, debug_std_frame_0: 0.2803, debug_std_frame_1: 0.3155, debug_std_frame_2: 0.3702, debug_std_frame_3: 0.4353, debug_std_frame_4: 0.4954, debug_std_frame_5: 0.5613, loss_rl: -0.1449, loss_critic: 1.1385, loss_rl_bc: 0.0269, il_score: 0.5897, rl_score: 0.5933, prev_frame_loss_waypoint_0: 0.2794, prev_frame_loss_rl_bc_0: 0.0326, loss: 1.5909, grad_norm: 88.0241, il_score_sum: 60.4621, rl_score_sum: 61.5728, score_diff: -1.1107, il_win: 71.4500, rl_win: 97.7000
2025-09-24 06:46:50,310 - mmdet - INFO - Epoch [8][2540/3517]	lr: 4.023e-05, eta: 12:46:38, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0187, loss_waypoint: 0.2062, debug_std_frame_0: 0.3011, debug_std_frame_1: 0.3360, debug_std_frame_2: 0.3878, debug_std_frame_3: 0.4478, debug_std_frame_4: 0.5046, debug_std_frame_5: 0.5682, loss_rl: -0.1826, loss_critic: 1.3607, loss_rl_bc: 0.0244, il_score: 0.5977, rl_score: 0.5843, prev_frame_loss_waypoint_0: 0.2343, prev_frame_loss_rl_bc_0: 0.0269, loss: 1.6887, grad_norm: 52.8589, il_score_sum: 60.4621, rl_score_sum: 61.5728, score_diff: -1.1107, il_win: 71.4500, rl_win: 97.7000
2025-09-24 06:47:06,225 - mmdet - INFO - Epoch [8][2560/3517]	lr: 4.023e-05, eta: 12:46:22, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0204, loss_waypoint: 0.2081, debug_std_frame_0: 0.2920, debug_std_frame_1: 0.3262, debug_std_frame_2: 0.3763, debug_std_frame_3: 0.4335, debug_std_frame_4: 0.4908, debug_std_frame_5: 0.5564, loss_rl: -0.2268, loss_critic: 1.2561, loss_rl_bc: 0.0173, il_score: 0.6325, rl_score: 0.6288, prev_frame_loss_waypoint_0: 0.2335, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.5276, grad_norm: 43.0250, il_score_sum: 60.4621, rl_score_sum: 61.5728, score_diff: -1.1107, il_win: 71.4500, rl_win: 97.7000
2025-09-24 06:47:22,176 - mmdet - INFO - Epoch [8][2580/3517]	lr: 4.023e-05, eta: 12:46:05, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.2095, debug_std_frame_0: 0.2702, debug_std_frame_1: 0.3021, debug_std_frame_2: 0.3542, debug_std_frame_3: 0.4120, debug_std_frame_4: 0.4687, debug_std_frame_5: 0.5287, loss_rl: -0.2014, loss_critic: 1.3677, loss_rl_bc: 0.0190, il_score: 0.5837, rl_score: 0.6216, prev_frame_loss_waypoint_0: 0.2316, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.6686, grad_norm: 58.2041, il_score_sum: 60.4621, rl_score_sum: 61.5728, score_diff: -1.1107, il_win: 71.4500, rl_win: 97.7000
2025-09-24 06:47:38,181 - mmdet - INFO - Epoch [8][2600/3517]	lr: 4.023e-05, eta: 12:45:49, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.2259, debug_std_frame_0: 0.2361, debug_std_frame_1: 0.2648, debug_std_frame_2: 0.3179, debug_std_frame_3: 0.3767, debug_std_frame_4: 0.4330, debug_std_frame_5: 0.4942, loss_rl: -0.2481, loss_critic: 1.4486, loss_rl_bc: 0.0158, il_score: 0.6331, rl_score: 0.6617, prev_frame_loss_waypoint_0: 0.2376, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.7166, grad_norm: 75.2159, il_score_sum: 60.4461, rl_score_sum: 61.5242, score_diff: -1.0781, il_win: 71.5500, rl_win: 98.3000
2025-09-24 06:47:54,252 - mmdet - INFO - Epoch [8][2620/3517]	lr: 4.023e-05, eta: 12:45:33, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0194, loss_waypoint: 0.2736, debug_std_frame_0: 0.2426, debug_std_frame_1: 0.2797, debug_std_frame_2: 0.3353, debug_std_frame_3: 0.3956, debug_std_frame_4: 0.4536, debug_std_frame_5: 0.5202, loss_rl: -0.1831, loss_critic: 1.5275, loss_rl_bc: 0.0330, il_score: 0.5550, rl_score: 0.5917, prev_frame_loss_waypoint_0: 0.2710, prev_frame_loss_rl_bc_0: 0.0310, loss: 1.9724, grad_norm: 95.6823, il_score_sum: 60.4461, rl_score_sum: 61.5242, score_diff: -1.0781, il_win: 71.5500, rl_win: 98.3000
2025-09-24 06:48:10,357 - mmdet - INFO - Epoch [8][2640/3517]	lr: 4.023e-05, eta: 12:45:17, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2650, debug_std_frame_0: 0.2755, debug_std_frame_1: 0.3140, debug_std_frame_2: 0.3641, debug_std_frame_3: 0.4201, debug_std_frame_4: 0.4751, debug_std_frame_5: 0.5360, loss_rl: -0.2220, loss_critic: 1.3132, loss_rl_bc: 0.0242, il_score: 0.6060, rl_score: 0.6337, prev_frame_loss_waypoint_0: 0.2837, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.7066, grad_norm: 78.4247, il_score_sum: 60.4461, rl_score_sum: 61.5242, score_diff: -1.0781, il_win: 71.5500, rl_win: 98.3000
2025-09-24 06:48:26,284 - mmdet - INFO - Epoch [8][2660/3517]	lr: 4.023e-05, eta: 12:45:01, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2192, debug_std_frame_0: 0.2607, debug_std_frame_1: 0.3015, debug_std_frame_2: 0.3514, debug_std_frame_3: 0.4043, debug_std_frame_4: 0.4570, debug_std_frame_5: 0.5206, loss_rl: -0.2301, loss_critic: 1.2827, loss_rl_bc: 0.0187, il_score: 0.6201, rl_score: 0.6379, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.5398, grad_norm: 63.8378, il_score_sum: 60.4461, rl_score_sum: 61.5242, score_diff: -1.0781, il_win: 71.5500, rl_win: 98.3000
2025-09-24 06:48:42,156 - mmdet - INFO - Epoch [8][2680/3517]	lr: 4.023e-05, eta: 12:44:44, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.1902, debug_std_frame_0: 0.2486, debug_std_frame_1: 0.2863, debug_std_frame_2: 0.3390, debug_std_frame_3: 0.4004, debug_std_frame_4: 0.4579, debug_std_frame_5: 0.5308, loss_rl: -0.2211, loss_critic: 1.3915, loss_rl_bc: 0.0122, il_score: 0.6401, rl_score: 0.6424, prev_frame_loss_waypoint_0: 0.2206, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.6345, grad_norm: 50.7836, il_score_sum: 60.4461, rl_score_sum: 61.5242, score_diff: -1.0781, il_win: 71.5500, rl_win: 98.3000
2025-09-24 06:48:58,249 - mmdet - INFO - Epoch [8][2700/3517]	lr: 4.023e-05, eta: 12:44:28, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.2533, debug_std_frame_0: 0.2376, debug_std_frame_1: 0.2721, debug_std_frame_2: 0.3225, debug_std_frame_3: 0.3857, debug_std_frame_4: 0.4434, debug_std_frame_5: 0.5187, loss_rl: -0.1906, loss_critic: 1.2312, loss_rl_bc: 0.0218, il_score: 0.5717, rl_score: 0.6257, prev_frame_loss_waypoint_0: 0.2672, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.6246, grad_norm: 79.2732, il_score_sum: 60.5834, rl_score_sum: 61.5887, score_diff: -1.0053, il_win: 71.6500, rl_win: 98.9000
2025-09-24 06:49:14,382 - mmdet - INFO - Epoch [8][2720/3517]	lr: 4.023e-05, eta: 12:44:12, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.2099, debug_std_frame_0: 0.2379, debug_std_frame_1: 0.2755, debug_std_frame_2: 0.3218, debug_std_frame_3: 0.3801, debug_std_frame_4: 0.4331, debug_std_frame_5: 0.4965, loss_rl: -0.2533, loss_critic: 1.2084, loss_rl_bc: 0.0095, il_score: 0.5989, rl_score: 0.6634, prev_frame_loss_waypoint_0: 0.2284, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.4373, grad_norm: 67.3090, il_score_sum: 60.5834, rl_score_sum: 61.5887, score_diff: -1.0053, il_win: 71.6500, rl_win: 98.9000
2025-09-24 06:49:30,339 - mmdet - INFO - Epoch [8][2740/3517]	lr: 4.023e-05, eta: 12:43:56, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.2079, debug_std_frame_0: 0.2478, debug_std_frame_1: 0.2838, debug_std_frame_2: 0.3309, debug_std_frame_3: 0.3892, debug_std_frame_4: 0.4446, debug_std_frame_5: 0.5076, loss_rl: -0.2197, loss_critic: 1.5018, loss_rl_bc: 0.0139, il_score: 0.5947, rl_score: 0.6491, prev_frame_loss_waypoint_0: 0.2319, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.7727, grad_norm: 67.4979, il_score_sum: 60.5834, rl_score_sum: 61.5887, score_diff: -1.0053, il_win: 71.6500, rl_win: 98.9000
2025-09-24 06:49:46,175 - mmdet - INFO - Epoch [8][2760/3517]	lr: 4.023e-05, eta: 12:43:39, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.2299, debug_std_frame_0: 0.2606, debug_std_frame_1: 0.2944, debug_std_frame_2: 0.3416, debug_std_frame_3: 0.3975, debug_std_frame_4: 0.4538, debug_std_frame_5: 0.5181, loss_rl: -0.1497, loss_critic: 1.4856, loss_rl_bc: 0.0519, il_score: 0.6064, rl_score: 0.5882, prev_frame_loss_waypoint_0: 0.2380, prev_frame_loss_rl_bc_0: 0.0528, loss: 1.9292, grad_norm: 66.2578, il_score_sum: 60.5834, rl_score_sum: 61.5887, score_diff: -1.0053, il_win: 71.6500, rl_win: 98.9000
2025-09-24 06:50:02,309 - mmdet - INFO - Epoch [8][2780/3517]	lr: 4.023e-05, eta: 12:43:23, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2318, debug_std_frame_0: 0.3483, debug_std_frame_1: 0.3719, debug_std_frame_2: 0.4044, debug_std_frame_3: 0.4491, debug_std_frame_4: 0.4957, debug_std_frame_5: 0.5571, loss_rl: -0.1450, loss_critic: 1.4139, loss_rl_bc: 0.0348, il_score: 0.6040, rl_score: 0.5534, prev_frame_loss_waypoint_0: 0.2280, prev_frame_loss_rl_bc_0: 0.0329, loss: 1.8180, grad_norm: 54.5157, il_score_sum: 60.5834, rl_score_sum: 61.5887, score_diff: -1.0053, il_win: 71.6500, rl_win: 98.9000
2025-09-24 06:50:18,295 - mmdet - INFO - Epoch [8][2800/3517]	lr: 4.023e-05, eta: 12:43:07, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2031, debug_std_frame_0: 0.3680, debug_std_frame_1: 0.3901, debug_std_frame_2: 0.4223, debug_std_frame_3: 0.4662, debug_std_frame_4: 0.5152, debug_std_frame_5: 0.5674, loss_rl: -0.2400, loss_critic: 1.1621, loss_rl_bc: 0.0221, il_score: 0.6296, rl_score: 0.6263, prev_frame_loss_waypoint_0: 0.2233, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.4197, grad_norm: 34.3948, il_score_sum: 60.5253, rl_score_sum: 61.4553, score_diff: -0.9300, il_win: 71.7500, rl_win: 99.5000
2025-09-24 06:50:34,273 - mmdet - INFO - Epoch [8][2820/3517]	lr: 4.023e-05, eta: 12:42:51, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.1946, debug_std_frame_0: 0.3367, debug_std_frame_1: 0.3569, debug_std_frame_2: 0.3872, debug_std_frame_3: 0.4311, debug_std_frame_4: 0.4776, debug_std_frame_5: 0.5311, loss_rl: -0.2786, loss_critic: 1.3702, loss_rl_bc: 0.0129, il_score: 0.6251, rl_score: 0.6690, prev_frame_loss_waypoint_0: 0.2240, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.5611, grad_norm: 71.1890, il_score_sum: 60.5253, rl_score_sum: 61.4553, score_diff: -0.9300, il_win: 71.7500, rl_win: 99.5000
2025-09-24 06:50:50,240 - mmdet - INFO - Epoch [8][2840/3517]	lr: 4.023e-05, eta: 12:42:35, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2131, debug_std_frame_0: 0.3098, debug_std_frame_1: 0.3315, debug_std_frame_2: 0.3636, debug_std_frame_3: 0.4109, debug_std_frame_4: 0.4567, debug_std_frame_5: 0.5153, loss_rl: -0.2411, loss_critic: 1.1454, loss_rl_bc: 0.0159, il_score: 0.6652, rl_score: 0.6861, prev_frame_loss_waypoint_0: 0.2130, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.3798, grad_norm: 51.2280, il_score_sum: 60.5253, rl_score_sum: 61.4553, score_diff: -0.9300, il_win: 71.7500, rl_win: 99.5000
2025-09-24 06:51:06,152 - mmdet - INFO - Epoch [8][2860/3517]	lr: 4.023e-05, eta: 12:42:18, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0192, loss_waypoint: 0.2016, debug_std_frame_0: 0.2806, debug_std_frame_1: 0.2974, debug_std_frame_2: 0.3266, debug_std_frame_3: 0.3684, debug_std_frame_4: 0.4108, debug_std_frame_5: 0.4603, loss_rl: -0.2278, loss_critic: 1.2745, loss_rl_bc: 0.0162, il_score: 0.6051, rl_score: 0.6517, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.5062, grad_norm: 52.8209, il_score_sum: 60.5253, rl_score_sum: 61.4553, score_diff: -0.9300, il_win: 71.7500, rl_win: 99.5000
2025-09-24 06:51:22,132 - mmdet - INFO - Epoch [8][2880/3517]	lr: 4.023e-05, eta: 12:42:02, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.2180, debug_std_frame_0: 0.2786, debug_std_frame_1: 0.2975, debug_std_frame_2: 0.3309, debug_std_frame_3: 0.3785, debug_std_frame_4: 0.4274, debug_std_frame_5: 0.4812, loss_rl: -0.2448, loss_critic: 1.3941, loss_rl_bc: 0.0196, il_score: 0.6095, rl_score: 0.6284, prev_frame_loss_waypoint_0: 0.2447, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.6731, grad_norm: 67.8185, il_score_sum: 60.5253, rl_score_sum: 61.4553, score_diff: -0.9300, il_win: 71.7500, rl_win: 99.5000
2025-09-24 06:51:38,114 - mmdet - INFO - Epoch [8][2900/3517]	lr: 4.023e-05, eta: 12:41:46, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2161, debug_std_frame_0: 0.2822, debug_std_frame_1: 0.3036, debug_std_frame_2: 0.3455, debug_std_frame_3: 0.4072, debug_std_frame_4: 0.4673, debug_std_frame_5: 0.5291, loss_rl: -0.2579, loss_critic: 1.3128, loss_rl_bc: 0.0185, il_score: 0.6279, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2238, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.5521, grad_norm: 43.6916, il_score_sum: 60.5323, rl_score_sum: 61.6487, score_diff: -1.1164, il_win: 71.8000, rl_win: 100.1500
2025-09-24 06:51:54,095 - mmdet - INFO - Epoch [8][2920/3517]	lr: 4.023e-05, eta: 12:41:29, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0182, loss_waypoint: 0.2192, debug_std_frame_0: 0.2691, debug_std_frame_1: 0.2929, debug_std_frame_2: 0.3385, debug_std_frame_3: 0.3992, debug_std_frame_4: 0.4582, debug_std_frame_5: 0.5225, loss_rl: -0.2233, loss_critic: 1.4161, loss_rl_bc: 0.0180, il_score: 0.6166, rl_score: 0.6549, prev_frame_loss_waypoint_0: 0.2284, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.6935, grad_norm: 60.1335, il_score_sum: 60.5323, rl_score_sum: 61.6487, score_diff: -1.1164, il_win: 71.8000, rl_win: 100.1500
2025-09-24 06:52:10,062 - mmdet - INFO - Epoch [8][2940/3517]	lr: 4.023e-05, eta: 12:41:13, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0180, loss_waypoint: 0.2116, debug_std_frame_0: 0.2567, debug_std_frame_1: 0.2788, debug_std_frame_2: 0.3229, debug_std_frame_3: 0.3826, debug_std_frame_4: 0.4413, debug_std_frame_5: 0.5128, loss_rl: -0.1957, loss_critic: 1.4844, loss_rl_bc: 0.0197, il_score: 0.6065, rl_score: 0.6349, prev_frame_loss_waypoint_0: 0.2348, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.7985, grad_norm: 64.5446, il_score_sum: 60.5323, rl_score_sum: 61.6487, score_diff: -1.1164, il_win: 71.8000, rl_win: 100.1500
2025-09-24 06:52:26,134 - mmdet - INFO - Epoch [8][2960/3517]	lr: 4.023e-05, eta: 12:40:57, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.1900, debug_std_frame_0: 0.2647, debug_std_frame_1: 0.2896, debug_std_frame_2: 0.3377, debug_std_frame_3: 0.3978, debug_std_frame_4: 0.4603, debug_std_frame_5: 0.5310, loss_rl: -0.2042, loss_critic: 1.0904, loss_rl_bc: 0.0168, il_score: 0.6311, rl_score: 0.6201, prev_frame_loss_waypoint_0: 0.2403, prev_frame_loss_rl_bc_0: 0.0254, loss: 1.3788, grad_norm: 59.1658, il_score_sum: 60.5323, rl_score_sum: 61.6487, score_diff: -1.1164, il_win: 71.8000, rl_win: 100.1500
2025-09-24 06:52:42,173 - mmdet - INFO - Epoch [8][2980/3517]	lr: 4.023e-05, eta: 12:40:41, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.2226, debug_std_frame_0: 0.2693, debug_std_frame_1: 0.2954, debug_std_frame_2: 0.3457, debug_std_frame_3: 0.4069, debug_std_frame_4: 0.4660, debug_std_frame_5: 0.5346, loss_rl: -0.2322, loss_critic: 1.4241, loss_rl_bc: 0.0177, il_score: 0.5757, rl_score: 0.6243, prev_frame_loss_waypoint_0: 0.2596, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.7391, grad_norm: 73.7832, il_score_sum: 60.5323, rl_score_sum: 61.6487, score_diff: -1.1164, il_win: 71.8000, rl_win: 100.1500
2025-09-24 06:52:58,229 - mmdet - INFO - Epoch [8][3000/3517]	lr: 4.023e-05, eta: 12:40:25, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2099, debug_std_frame_0: 0.2860, debug_std_frame_1: 0.3143, debug_std_frame_2: 0.3674, debug_std_frame_3: 0.4255, debug_std_frame_4: 0.4865, debug_std_frame_5: 0.5514, loss_rl: -0.1863, loss_critic: 1.1171, loss_rl_bc: 0.0203, il_score: 0.6415, rl_score: 0.6347, prev_frame_loss_waypoint_0: 0.2199, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.4265, grad_norm: 52.1235, il_score_sum: 60.5300, rl_score_sum: 61.6651, score_diff: -1.1351, il_win: 71.8500, rl_win: 100.8000
2025-09-24 06:53:14,068 - mmdet - INFO - Epoch [8][3020/3517]	lr: 4.023e-05, eta: 12:40:08, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.2177, debug_std_frame_0: 0.2885, debug_std_frame_1: 0.3164, debug_std_frame_2: 0.3641, debug_std_frame_3: 0.4172, debug_std_frame_4: 0.4723, debug_std_frame_5: 0.5322, loss_rl: -0.1978, loss_critic: 1.3123, loss_rl_bc: 0.0239, il_score: 0.6221, rl_score: 0.6101, prev_frame_loss_waypoint_0: 0.2234, prev_frame_loss_rl_bc_0: 0.0325, loss: 1.6324, grad_norm: 48.6347, il_score_sum: 60.5300, rl_score_sum: 61.6651, score_diff: -1.1351, il_win: 71.8500, rl_win: 100.8000
2025-09-24 06:53:30,042 - mmdet - INFO - Epoch [8][3040/3517]	lr: 4.023e-05, eta: 12:39:52, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1737, debug_std_frame_0: 0.2700, debug_std_frame_1: 0.3009, debug_std_frame_2: 0.3522, debug_std_frame_3: 0.4054, debug_std_frame_4: 0.4602, debug_std_frame_5: 0.5199, loss_rl: -0.2103, loss_critic: 1.2470, loss_rl_bc: 0.0158, il_score: 0.6448, rl_score: 0.6488, prev_frame_loss_waypoint_0: 0.1996, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.4641, grad_norm: 45.1416, il_score_sum: 60.5300, rl_score_sum: 61.6651, score_diff: -1.1351, il_win: 71.8500, rl_win: 100.8000
2025-09-24 06:53:46,122 - mmdet - INFO - Epoch [8][3060/3517]	lr: 4.023e-05, eta: 12:39:36, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.1924, debug_std_frame_0: 0.2627, debug_std_frame_1: 0.2880, debug_std_frame_2: 0.3330, debug_std_frame_3: 0.3804, debug_std_frame_4: 0.4334, debug_std_frame_5: 0.4876, loss_rl: -0.2310, loss_critic: 1.6103, loss_rl_bc: 0.0144, il_score: 0.6192, rl_score: 0.6400, prev_frame_loss_waypoint_0: 0.2141, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.8383, grad_norm: 64.5755, il_score_sum: 60.5300, rl_score_sum: 61.6651, score_diff: -1.1351, il_win: 71.8500, rl_win: 100.8000
2025-09-24 06:54:01,978 - mmdet - INFO - Epoch [8][3080/3517]	lr: 4.023e-05, eta: 12:39:20, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.2092, debug_std_frame_0: 0.2521, debug_std_frame_1: 0.2779, debug_std_frame_2: 0.3306, debug_std_frame_3: 0.3865, debug_std_frame_4: 0.4453, debug_std_frame_5: 0.5123, loss_rl: -0.2229, loss_critic: 1.3085, loss_rl_bc: 0.0156, il_score: 0.6036, rl_score: 0.6216, prev_frame_loss_waypoint_0: 0.2221, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.5686, grad_norm: 62.5194, il_score_sum: 60.5300, rl_score_sum: 61.6651, score_diff: -1.1351, il_win: 71.8500, rl_win: 100.8000
2025-09-24 06:54:18,108 - mmdet - INFO - Epoch [8][3100/3517]	lr: 4.023e-05, eta: 12:39:04, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.2576, debug_std_frame_0: 0.2534, debug_std_frame_1: 0.2842, debug_std_frame_2: 0.3417, debug_std_frame_3: 0.4012, debug_std_frame_4: 0.4638, debug_std_frame_5: 0.5266, loss_rl: -0.1203, loss_critic: 1.6017, loss_rl_bc: 0.0341, il_score: 0.5340, rl_score: 0.5579, prev_frame_loss_waypoint_0: 0.2749, prev_frame_loss_rl_bc_0: 0.0395, loss: 2.1068, grad_norm: 85.9868, il_score_sum: 60.7146, rl_score_sum: 61.7524, score_diff: -1.0378, il_win: 71.9000, rl_win: 101.4000
2025-09-24 06:54:34,006 - mmdet - INFO - Epoch [8][3120/3517]	lr: 4.023e-05, eta: 12:38:47, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0205, loss_waypoint: 0.2048, debug_std_frame_0: 0.2885, debug_std_frame_1: 0.3162, debug_std_frame_2: 0.3660, debug_std_frame_3: 0.4198, debug_std_frame_4: 0.4822, debug_std_frame_5: 0.5442, loss_rl: -0.1973, loss_critic: 1.1581, loss_rl_bc: 0.0213, il_score: 0.6132, rl_score: 0.6280, prev_frame_loss_waypoint_0: 0.2101, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.4369, grad_norm: 54.1192, il_score_sum: 60.7146, rl_score_sum: 61.7524, score_diff: -1.0378, il_win: 71.9000, rl_win: 101.4000
2025-09-24 06:54:49,978 - mmdet - INFO - Epoch [8][3140/3517]	lr: 4.023e-05, eta: 12:38:31, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2075, debug_std_frame_0: 0.2759, debug_std_frame_1: 0.3081, debug_std_frame_2: 0.3566, debug_std_frame_3: 0.4100, debug_std_frame_4: 0.4699, debug_std_frame_5: 0.5310, loss_rl: -0.2298, loss_critic: 1.3178, loss_rl_bc: 0.0184, il_score: 0.6322, rl_score: 0.6233, prev_frame_loss_waypoint_0: 0.2142, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.5668, grad_norm: 53.2023, il_score_sum: 60.7146, rl_score_sum: 61.7524, score_diff: -1.0378, il_win: 71.9000, rl_win: 101.4000
2025-09-24 06:55:05,871 - mmdet - INFO - Epoch [8][3160/3517]	lr: 4.023e-05, eta: 12:38:15, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0204, loss_waypoint: 0.2351, debug_std_frame_0: 0.2665, debug_std_frame_1: 0.2955, debug_std_frame_2: 0.3427, debug_std_frame_3: 0.3983, debug_std_frame_4: 0.4573, debug_std_frame_5: 0.5194, loss_rl: -0.2538, loss_critic: 1.4391, loss_rl_bc: 0.0172, il_score: 0.6013, rl_score: 0.6582, prev_frame_loss_waypoint_0: 0.2451, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.7225, grad_norm: 67.6540, il_score_sum: 60.7146, rl_score_sum: 61.7524, score_diff: -1.0378, il_win: 71.9000, rl_win: 101.4000
2025-09-24 06:55:21,753 - mmdet - INFO - Epoch [8][3180/3517]	lr: 4.023e-05, eta: 12:37:58, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2044, debug_std_frame_0: 0.2560, debug_std_frame_1: 0.2829, debug_std_frame_2: 0.3317, debug_std_frame_3: 0.3897, debug_std_frame_4: 0.4493, debug_std_frame_5: 0.5126, loss_rl: -0.2210, loss_critic: 1.0014, loss_rl_bc: 0.0148, il_score: 0.6705, rl_score: 0.6702, prev_frame_loss_waypoint_0: 0.2179, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.2582, grad_norm: 44.6610, il_score_sum: 60.7146, rl_score_sum: 61.7524, score_diff: -1.0378, il_win: 71.9000, rl_win: 101.4000
2025-09-24 06:55:37,921 - mmdet - INFO - Epoch [8][3200/3517]	lr: 4.023e-05, eta: 12:37:42, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2177, debug_std_frame_0: 0.2530, debug_std_frame_1: 0.2795, debug_std_frame_2: 0.3289, debug_std_frame_3: 0.3900, debug_std_frame_4: 0.4522, debug_std_frame_5: 0.5163, loss_rl: -0.1752, loss_critic: 1.2798, loss_rl_bc: 0.0205, il_score: 0.6143, rl_score: 0.6329, prev_frame_loss_waypoint_0: 0.2259, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.6126, grad_norm: 62.0863, il_score_sum: 60.7503, rl_score_sum: 61.8018, score_diff: -1.0515, il_win: 71.9500, rl_win: 102.0000
2025-09-24 06:55:53,918 - mmdet - INFO - Epoch [8][3220/3517]	lr: 4.023e-05, eta: 12:37:26, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.2409, debug_std_frame_0: 0.2610, debug_std_frame_1: 0.2878, debug_std_frame_2: 0.3381, debug_std_frame_3: 0.3973, debug_std_frame_4: 0.4599, debug_std_frame_5: 0.5209, loss_rl: -0.2076, loss_critic: 1.3129, loss_rl_bc: 0.0139, il_score: 0.5756, rl_score: 0.6429, prev_frame_loss_waypoint_0: 0.2867, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.6916, grad_norm: 80.0189, il_score_sum: 60.7503, rl_score_sum: 61.8018, score_diff: -1.0515, il_win: 71.9500, rl_win: 102.0000
2025-09-24 06:56:10,186 - mmdet - INFO - Epoch [8][3240/3517]	lr: 4.023e-05, eta: 12:37:10, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2070, debug_std_frame_0: 0.2483, debug_std_frame_1: 0.2759, debug_std_frame_2: 0.3293, debug_std_frame_3: 0.3901, debug_std_frame_4: 0.4541, debug_std_frame_5: 0.5151, loss_rl: -0.1706, loss_critic: 1.2486, loss_rl_bc: 0.0134, il_score: 0.6030, rl_score: 0.6421, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.5550, grad_norm: 73.6785, il_score_sum: 60.7503, rl_score_sum: 61.8018, score_diff: -1.0515, il_win: 71.9500, rl_win: 102.0000
2025-09-24 06:56:25,990 - mmdet - INFO - Epoch [8][3260/3517]	lr: 4.023e-05, eta: 12:36:54, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2144, debug_std_frame_0: 0.2371, debug_std_frame_1: 0.2619, debug_std_frame_2: 0.3179, debug_std_frame_3: 0.3799, debug_std_frame_4: 0.4480, debug_std_frame_5: 0.5163, loss_rl: -0.2008, loss_critic: 1.4258, loss_rl_bc: 0.0197, il_score: 0.6163, rl_score: 0.6230, prev_frame_loss_waypoint_0: 0.2132, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.7140, grad_norm: 53.7788, il_score_sum: 60.7503, rl_score_sum: 61.8018, score_diff: -1.0515, il_win: 71.9500, rl_win: 102.0000
2025-09-24 06:56:42,094 - mmdet - INFO - Epoch [8][3280/3517]	lr: 4.023e-05, eta: 12:36:38, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.1977, debug_std_frame_0: 0.2476, debug_std_frame_1: 0.2683, debug_std_frame_2: 0.3149, debug_std_frame_3: 0.3678, debug_std_frame_4: 0.4245, debug_std_frame_5: 0.4878, loss_rl: -0.2161, loss_critic: 1.3833, loss_rl_bc: 0.0206, il_score: 0.6134, rl_score: 0.6213, prev_frame_loss_waypoint_0: 0.2097, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.6383, grad_norm: 70.2634, il_score_sum: 60.7503, rl_score_sum: 61.8018, score_diff: -1.0515, il_win: 71.9500, rl_win: 102.0000
2025-09-24 06:56:58,208 - mmdet - INFO - Epoch [8][3300/3517]	lr: 4.023e-05, eta: 12:36:22, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2205, debug_std_frame_0: 0.2754, debug_std_frame_1: 0.3047, debug_std_frame_2: 0.3571, debug_std_frame_3: 0.4161, debug_std_frame_4: 0.4745, debug_std_frame_5: 0.5347, loss_rl: -0.1926, loss_critic: 1.3078, loss_rl_bc: 0.0291, il_score: 0.6397, rl_score: 0.6000, prev_frame_loss_waypoint_0: 0.2368, prev_frame_loss_rl_bc_0: 0.0303, loss: 1.6565, grad_norm: 68.4049, il_score_sum: 60.7188, rl_score_sum: 61.8250, score_diff: -1.1062, il_win: 72.0000, rl_win: 102.6000
2025-09-24 06:57:14,081 - mmdet - INFO - Epoch [8][3320/3517]	lr: 4.023e-05, eta: 12:36:05, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2168, debug_std_frame_0: 0.2800, debug_std_frame_1: 0.3128, debug_std_frame_2: 0.3673, debug_std_frame_3: 0.4254, debug_std_frame_4: 0.4866, debug_std_frame_5: 0.5480, loss_rl: -0.2588, loss_critic: 1.3024, loss_rl_bc: 0.0168, il_score: 0.6280, rl_score: 0.6685, prev_frame_loss_waypoint_0: 0.2371, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.5577, grad_norm: 65.1868, il_score_sum: 60.7188, rl_score_sum: 61.8250, score_diff: -1.1062, il_win: 72.0000, rl_win: 102.6000
2025-09-24 06:57:29,911 - mmdet - INFO - Epoch [8][3340/3517]	lr: 4.023e-05, eta: 12:35:49, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2092, debug_std_frame_0: 0.2646, debug_std_frame_1: 0.2947, debug_std_frame_2: 0.3464, debug_std_frame_3: 0.4048, debug_std_frame_4: 0.4669, debug_std_frame_5: 0.5310, loss_rl: -0.2125, loss_critic: 1.1845, loss_rl_bc: 0.0256, il_score: 0.6206, rl_score: 0.6283, prev_frame_loss_waypoint_0: 0.2248, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.4778, grad_norm: 53.0862, il_score_sum: 60.7188, rl_score_sum: 61.8250, score_diff: -1.1062, il_win: 72.0000, rl_win: 102.6000
2025-09-24 06:57:45,871 - mmdet - INFO - Epoch [8][3360/3517]	lr: 4.023e-05, eta: 12:35:32, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.2462, debug_std_frame_0: 0.2917, debug_std_frame_1: 0.3278, debug_std_frame_2: 0.3849, debug_std_frame_3: 0.4473, debug_std_frame_4: 0.5100, debug_std_frame_5: 0.5734, loss_rl: -0.1543, loss_critic: 1.5443, loss_rl_bc: 0.0354, il_score: 0.5606, rl_score: 0.5427, prev_frame_loss_waypoint_0: 0.2698, prev_frame_loss_rl_bc_0: 0.0372, loss: 2.0003, grad_norm: 82.1906, il_score_sum: 60.7188, rl_score_sum: 61.8250, score_diff: -1.1062, il_win: 72.0000, rl_win: 102.6000
2025-09-24 06:58:01,985 - mmdet - INFO - Epoch [8][3380/3517]	lr: 4.023e-05, eta: 12:35:17, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0212, loss_waypoint: 0.2851, debug_std_frame_0: 0.2975, debug_std_frame_1: 0.3337, debug_std_frame_2: 0.3891, debug_std_frame_3: 0.4470, debug_std_frame_4: 0.5088, debug_std_frame_5: 0.5696, loss_rl: -0.2083, loss_critic: 1.1383, loss_rl_bc: 0.0195, il_score: 0.5314, rl_score: 0.6176, prev_frame_loss_waypoint_0: 0.2842, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.5579, grad_norm: 83.8244, il_score_sum: 60.7188, rl_score_sum: 61.8250, score_diff: -1.1062, il_win: 72.0000, rl_win: 102.6000
2025-09-24 06:58:17,959 - mmdet - INFO - Epoch [8][3400/3517]	lr: 4.023e-05, eta: 12:35:00, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.2092, debug_std_frame_0: 0.2935, debug_std_frame_1: 0.3276, debug_std_frame_2: 0.3780, debug_std_frame_3: 0.4319, debug_std_frame_4: 0.4870, debug_std_frame_5: 0.5504, loss_rl: -0.2173, loss_critic: 1.5590, loss_rl_bc: 0.0143, il_score: 0.5902, rl_score: 0.6197, prev_frame_loss_waypoint_0: 0.2302, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.8344, grad_norm: 70.2326, il_score_sum: 60.6420, rl_score_sum: 61.9557, score_diff: -1.3137, il_win: 72.0000, rl_win: 103.2500
2025-09-24 06:58:33,971 - mmdet - INFO - Epoch [8][3420/3517]	lr: 4.023e-05, eta: 12:34:44, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2258, debug_std_frame_0: 0.2654, debug_std_frame_1: 0.3010, debug_std_frame_2: 0.3588, debug_std_frame_3: 0.4190, debug_std_frame_4: 0.4838, debug_std_frame_5: 0.5456, loss_rl: -0.1877, loss_critic: 1.2692, loss_rl_bc: 0.0199, il_score: 0.5805, rl_score: 0.6098, prev_frame_loss_waypoint_0: 0.2416, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.6121, grad_norm: 53.7290, il_score_sum: 60.6420, rl_score_sum: 61.9557, score_diff: -1.3137, il_win: 72.0000, rl_win: 103.2500
2025-09-24 06:58:50,085 - mmdet - INFO - Epoch [8][3440/3517]	lr: 4.023e-05, eta: 12:34:28, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.2521, debug_std_frame_0: 0.2732, debug_std_frame_1: 0.3069, debug_std_frame_2: 0.3587, debug_std_frame_3: 0.4146, debug_std_frame_4: 0.4756, debug_std_frame_5: 0.5383, loss_rl: -0.1166, loss_critic: 1.2811, loss_rl_bc: 0.0410, il_score: 0.5863, rl_score: 0.5668, prev_frame_loss_waypoint_0: 0.2856, prev_frame_loss_rl_bc_0: 0.0878, loss: 1.8514, grad_norm: 86.5723, il_score_sum: 60.6420, rl_score_sum: 61.9557, score_diff: -1.3137, il_win: 72.0000, rl_win: 103.2500
2025-09-24 06:59:06,181 - mmdet - INFO - Epoch [8][3460/3517]	lr: 4.023e-05, eta: 12:34:12, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2304, debug_std_frame_0: 0.3343, debug_std_frame_1: 0.3732, debug_std_frame_2: 0.4273, debug_std_frame_3: 0.4826, debug_std_frame_4: 0.5422, debug_std_frame_5: 0.6059, loss_rl: -0.1544, loss_critic: 1.2627, loss_rl_bc: 0.0440, il_score: 0.6210, rl_score: 0.5259, prev_frame_loss_waypoint_0: 0.2439, prev_frame_loss_rl_bc_0: 0.0461, loss: 1.6942, grad_norm: 74.9329, il_score_sum: 60.6420, rl_score_sum: 61.9557, score_diff: -1.3137, il_win: 72.0000, rl_win: 103.2500
2025-09-24 06:59:22,200 - mmdet - INFO - Epoch [8][3480/3517]	lr: 4.023e-05, eta: 12:33:56, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2138, debug_std_frame_0: 0.3445, debug_std_frame_1: 0.3785, debug_std_frame_2: 0.4252, debug_std_frame_3: 0.4748, debug_std_frame_4: 0.5306, debug_std_frame_5: 0.5985, loss_rl: -0.2353, loss_critic: 1.4673, loss_rl_bc: 0.0243, il_score: 0.5983, rl_score: 0.5891, prev_frame_loss_waypoint_0: 0.2263, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.7461, grad_norm: 67.8251, il_score_sum: 60.6420, rl_score_sum: 61.9557, score_diff: -1.3137, il_win: 72.0000, rl_win: 103.2500
2025-09-24 06:59:38,212 - mmdet - INFO - Epoch [8][3500/3517]	lr: 4.023e-05, eta: 12:33:40, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0214, loss_waypoint: 0.1897, debug_std_frame_0: 0.3404, debug_std_frame_1: 0.3732, debug_std_frame_2: 0.4175, debug_std_frame_3: 0.4624, debug_std_frame_4: 0.5147, debug_std_frame_5: 0.5738, loss_rl: -0.2671, loss_critic: 1.2811, loss_rl_bc: 0.0176, il_score: 0.6234, rl_score: 0.6443, prev_frame_loss_waypoint_0: 0.2231, prev_frame_loss_rl_bc_0: 0.0357, loss: 1.5015, grad_norm: 44.3713, il_score_sum: 60.5383, rl_score_sum: 61.6998, score_diff: -1.1615, il_win: 72.0500, rl_win: 103.8500
2025-09-24 06:59:51,380 - mmdet - INFO - Saving checkpoint at 8 epochs
2025-09-24 07:02:24,776 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 07:02:24,777 - mmdet - INFO - Epoch(val) [8][753]	plan_L2_1s: 0.8346, plan_L2_2s: 1.4308, plan_L2_3s: 2.0871, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0020, plan_obj_box_col_2s: 0.0063, plan_obj_box_col_3s: 0.0147, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3888, plan_L2_2s_rl_actor: 0.7263, plan_L2_3s_rl_actor: 1.1624, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0049, plan_obj_box_col_2s_rl_actor: 0.0072, plan_obj_box_col_3s_rl_actor: 0.0121, fut_valid_flag_rl_actor: 1.0000
2025-09-24 07:02:48,866 - mmdet - INFO - Epoch [9][20/3517]	lr: 3.751e-05, eta: 12:32:59, time: 1.203, data_time: 0.337, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.2317, debug_std_frame_0: 0.2978, debug_std_frame_1: 0.3298, debug_std_frame_2: 0.3751, debug_std_frame_3: 0.4218, debug_std_frame_4: 0.4704, debug_std_frame_5: 0.5165, loss_rl: -0.2720, loss_critic: 1.5559, loss_rl_bc: 0.0171, il_score: 0.6174, rl_score: 0.6566, prev_frame_loss_waypoint_0: 0.2336, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.8036, grad_norm: 75.4885
2025-09-24 07:03:05,495 - mmdet - INFO - Epoch [9][40/3517]	lr: 3.751e-05, eta: 12:32:44, time: 0.832, data_time: 0.014, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.2066, debug_std_frame_0: 0.2824, debug_std_frame_1: 0.3132, debug_std_frame_2: 0.3598, debug_std_frame_3: 0.4122, debug_std_frame_4: 0.4656, debug_std_frame_5: 0.5213, loss_rl: -0.2361, loss_critic: 1.4122, loss_rl_bc: 0.0194, il_score: 0.6049, rl_score: 0.6212, prev_frame_loss_waypoint_0: 0.2048, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.6426, grad_norm: 60.8941
2025-09-24 07:03:22,080 - mmdet - INFO - Epoch [9][60/3517]	lr: 3.751e-05, eta: 12:32:29, time: 0.829, data_time: 0.013, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.2125, debug_std_frame_0: 0.2571, debug_std_frame_1: 0.2938, debug_std_frame_2: 0.3457, debug_std_frame_3: 0.4003, debug_std_frame_4: 0.4578, debug_std_frame_5: 0.5142, loss_rl: -0.1892, loss_critic: 1.5003, loss_rl_bc: 0.0227, il_score: 0.5887, rl_score: 0.6258, prev_frame_loss_waypoint_0: 0.2315, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.8202, grad_norm: 67.0512
2025-09-24 07:03:38,544 - mmdet - INFO - Epoch [9][80/3517]	lr: 3.751e-05, eta: 12:32:13, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2186, debug_std_frame_0: 0.2573, debug_std_frame_1: 0.2888, debug_std_frame_2: 0.3346, debug_std_frame_3: 0.3848, debug_std_frame_4: 0.4347, debug_std_frame_5: 0.4931, loss_rl: -0.1977, loss_critic: 1.1005, loss_rl_bc: 0.0171, il_score: 0.6020, rl_score: 0.6305, prev_frame_loss_waypoint_0: 0.2284, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.4104, grad_norm: 66.9040, il_score_sum: 60.6282, rl_score_sum: 63.5788, score_diff: -2.9505, il_win: 73.0000, rl_win: 111.0000
2025-09-24 07:03:55,116 - mmdet - INFO - Epoch [9][100/3517]	lr: 3.751e-05, eta: 12:31:58, time: 0.829, data_time: 0.014, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2372, debug_std_frame_0: 0.2902, debug_std_frame_1: 0.3201, debug_std_frame_2: 0.3677, debug_std_frame_3: 0.4229, debug_std_frame_4: 0.4787, debug_std_frame_5: 0.5368, loss_rl: -0.2088, loss_critic: 1.5044, loss_rl_bc: 0.0244, il_score: 0.5934, rl_score: 0.6180, prev_frame_loss_waypoint_0: 0.2392, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.8388, grad_norm: 53.0577, il_score_sum: 60.6282, rl_score_sum: 63.5788, score_diff: -2.9505, il_win: 73.0000, rl_win: 111.0000
2025-09-24 07:04:11,736 - mmdet - INFO - Epoch [9][120/3517]	lr: 3.751e-05, eta: 12:31:43, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0197, loss_waypoint: 0.2026, debug_std_frame_0: 0.2704, debug_std_frame_1: 0.2976, debug_std_frame_2: 0.3418, debug_std_frame_3: 0.3944, debug_std_frame_4: 0.4501, debug_std_frame_5: 0.5090, loss_rl: -0.2168, loss_critic: 1.6113, loss_rl_bc: 0.0144, il_score: 0.6272, rl_score: 0.6357, prev_frame_loss_waypoint_0: 0.2176, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.8643, grad_norm: 61.3907, il_score_sum: 60.6282, rl_score_sum: 63.5788, score_diff: -2.9505, il_win: 73.0000, rl_win: 111.0000
2025-09-24 07:04:28,776 - mmdet - INFO - Epoch [9][140/3517]	lr: 3.751e-05, eta: 12:31:29, time: 0.853, data_time: 0.014, memory: 8550, loss_rec: 0.0183, loss_waypoint: 0.2158, debug_std_frame_0: 0.2791, debug_std_frame_1: 0.3137, debug_std_frame_2: 0.3675, debug_std_frame_3: 0.4290, debug_std_frame_4: 0.4880, debug_std_frame_5: 0.5504, loss_rl: -0.2081, loss_critic: 1.1740, loss_rl_bc: 0.0201, il_score: 0.6081, rl_score: 0.6276, prev_frame_loss_waypoint_0: 0.2246, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.4678, grad_norm: 52.3116, il_score_sum: 60.6282, rl_score_sum: 63.5788, score_diff: -2.9505, il_win: 73.0000, rl_win: 111.0000
2025-09-24 07:04:44,975 - mmdet - INFO - Epoch [9][160/3517]	lr: 3.751e-05, eta: 12:31:14, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0174, loss_waypoint: 0.2010, debug_std_frame_0: 0.2640, debug_std_frame_1: 0.2999, debug_std_frame_2: 0.3583, debug_std_frame_3: 0.4219, debug_std_frame_4: 0.4836, debug_std_frame_5: 0.5415, loss_rl: -0.2032, loss_critic: 1.3714, loss_rl_bc: 0.0146, il_score: 0.6132, rl_score: 0.6345, prev_frame_loss_waypoint_0: 0.2162, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.6334, grad_norm: 54.9004, il_score_sum: 60.6282, rl_score_sum: 63.5788, score_diff: -2.9505, il_win: 73.0000, rl_win: 111.0000
2025-09-24 07:05:01,561 - mmdet - INFO - Epoch [9][180/3517]	lr: 3.751e-05, eta: 12:30:59, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.1976, debug_std_frame_0: 0.2473, debug_std_frame_1: 0.2785, debug_std_frame_2: 0.3348, debug_std_frame_3: 0.3942, debug_std_frame_4: 0.4527, debug_std_frame_5: 0.5105, loss_rl: -0.2179, loss_critic: 1.2474, loss_rl_bc: 0.0122, il_score: 0.6271, rl_score: 0.6513, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0204, loss: 1.5076, grad_norm: 57.0827, il_score_sum: 61.0303, rl_score_sum: 63.4839, score_diff: -2.4536, il_win: 73.0000, rl_win: 111.5000
2025-09-24 07:05:17,904 - mmdet - INFO - Epoch [9][200/3517]	lr: 3.751e-05, eta: 12:30:43, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.2057, debug_std_frame_0: 0.2503, debug_std_frame_1: 0.2826, debug_std_frame_2: 0.3366, debug_std_frame_3: 0.3945, debug_std_frame_4: 0.4534, debug_std_frame_5: 0.5114, loss_rl: -0.2383, loss_critic: 1.3971, loss_rl_bc: 0.0163, il_score: 0.5890, rl_score: 0.6409, prev_frame_loss_waypoint_0: 0.2340, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.6527, grad_norm: 74.0062, il_score_sum: 61.0303, rl_score_sum: 63.4839, score_diff: -2.4536, il_win: 73.0000, rl_win: 111.5000
2025-09-24 07:05:34,150 - mmdet - INFO - Epoch [9][220/3517]	lr: 3.751e-05, eta: 12:30:27, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.1975, debug_std_frame_0: 0.2517, debug_std_frame_1: 0.2843, debug_std_frame_2: 0.3390, debug_std_frame_3: 0.3973, debug_std_frame_4: 0.4550, debug_std_frame_5: 0.5072, loss_rl: -0.2570, loss_critic: 1.3651, loss_rl_bc: 0.0151, il_score: 0.6227, rl_score: 0.6588, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.5765, grad_norm: 54.0721, il_score_sum: 61.0303, rl_score_sum: 63.4839, score_diff: -2.4536, il_win: 73.0000, rl_win: 111.5000
2025-09-24 07:05:50,654 - mmdet - INFO - Epoch [9][240/3517]	lr: 3.751e-05, eta: 12:30:12, time: 0.825, data_time: 0.014, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.2224, debug_std_frame_0: 0.2657, debug_std_frame_1: 0.2999, debug_std_frame_2: 0.3561, debug_std_frame_3: 0.4138, debug_std_frame_4: 0.4687, debug_std_frame_5: 0.5221, loss_rl: -0.1927, loss_critic: 1.6793, loss_rl_bc: 0.0329, il_score: 0.5879, rl_score: 0.5808, prev_frame_loss_waypoint_0: 0.2365, prev_frame_loss_rl_bc_0: 0.0412, loss: 2.0416, grad_norm: 76.4171, il_score_sum: 61.0303, rl_score_sum: 63.4839, score_diff: -2.4536, il_win: 73.0000, rl_win: 111.5000
2025-09-24 07:06:07,350 - mmdet - INFO - Epoch [9][260/3517]	lr: 3.751e-05, eta: 12:29:57, time: 0.835, data_time: 0.014, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2086, debug_std_frame_0: 0.2958, debug_std_frame_1: 0.3280, debug_std_frame_2: 0.3811, debug_std_frame_3: 0.4344, debug_std_frame_4: 0.4869, debug_std_frame_5: 0.5384, loss_rl: -0.1807, loss_critic: 1.3027, loss_rl_bc: 0.0249, il_score: 0.6072, rl_score: 0.5821, prev_frame_loss_waypoint_0: 0.2171, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.6212, grad_norm: 60.4782, il_score_sum: 61.0303, rl_score_sum: 63.4839, score_diff: -2.4536, il_win: 73.0000, rl_win: 111.5000
2025-09-24 07:06:23,951 - mmdet - INFO - Epoch [9][280/3517]	lr: 3.751e-05, eta: 12:29:42, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.2056, debug_std_frame_0: 0.3063, debug_std_frame_1: 0.3393, debug_std_frame_2: 0.3910, debug_std_frame_3: 0.4416, debug_std_frame_4: 0.4921, debug_std_frame_5: 0.5416, loss_rl: -0.2403, loss_critic: 1.3070, loss_rl_bc: 0.0155, il_score: 0.6318, rl_score: 0.6269, prev_frame_loss_waypoint_0: 0.2158, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.5475, grad_norm: 60.8298, il_score_sum: 60.8722, rl_score_sum: 63.0005, score_diff: -2.1283, il_win: 73.0000, rl_win: 112.0000
2025-09-24 07:06:40,114 - mmdet - INFO - Epoch [9][300/3517]	lr: 3.751e-05, eta: 12:29:26, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0205, loss_waypoint: 0.2027, debug_std_frame_0: 0.2775, debug_std_frame_1: 0.3079, debug_std_frame_2: 0.3606, debug_std_frame_3: 0.4102, debug_std_frame_4: 0.4624, debug_std_frame_5: 0.5140, loss_rl: -0.2533, loss_critic: 1.3119, loss_rl_bc: 0.0141, il_score: 0.6444, rl_score: 0.6507, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.5329, grad_norm: 51.1508, il_score_sum: 60.8722, rl_score_sum: 63.0005, score_diff: -2.1283, il_win: 73.0000, rl_win: 112.0000
2025-09-24 07:06:56,347 - mmdet - INFO - Epoch [9][320/3517]	lr: 3.751e-05, eta: 12:29:11, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0196, loss_waypoint: 0.1712, debug_std_frame_0: 0.2460, debug_std_frame_1: 0.2729, debug_std_frame_2: 0.3263, debug_std_frame_3: 0.3784, debug_std_frame_4: 0.4332, debug_std_frame_5: 0.4816, loss_rl: -0.2624, loss_critic: 1.5343, loss_rl_bc: 0.0070, il_score: 0.6270, rl_score: 0.6511, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.6828, grad_norm: 43.9985, il_score_sum: 60.8722, rl_score_sum: 63.0005, score_diff: -2.1283, il_win: 73.0000, rl_win: 112.0000
2025-09-24 07:07:12,662 - mmdet - INFO - Epoch [9][340/3517]	lr: 3.751e-05, eta: 12:28:55, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0213, loss_waypoint: 0.2120, debug_std_frame_0: 0.2257, debug_std_frame_1: 0.2526, debug_std_frame_2: 0.3061, debug_std_frame_3: 0.3588, debug_std_frame_4: 0.4171, debug_std_frame_5: 0.4695, loss_rl: -0.2675, loss_critic: 1.4150, loss_rl_bc: 0.0230, il_score: 0.5986, rl_score: 0.6413, prev_frame_loss_waypoint_0: 0.2066, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.6265, grad_norm: 53.0876, il_score_sum: 60.8722, rl_score_sum: 63.0005, score_diff: -2.1283, il_win: 73.0000, rl_win: 112.0000
2025-09-24 07:07:28,853 - mmdet - INFO - Epoch [9][360/3517]	lr: 3.751e-05, eta: 12:28:39, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.2350, debug_std_frame_0: 0.2565, debug_std_frame_1: 0.2964, debug_std_frame_2: 0.3655, debug_std_frame_3: 0.4297, debug_std_frame_4: 0.5042, debug_std_frame_5: 0.5609, loss_rl: -0.1901, loss_critic: 1.2444, loss_rl_bc: 0.0208, il_score: 0.6005, rl_score: 0.6200, prev_frame_loss_waypoint_0: 0.2376, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.5908, grad_norm: 64.5185, il_score_sum: 60.8722, rl_score_sum: 63.0005, score_diff: -2.1283, il_win: 73.0000, rl_win: 112.0000
2025-09-24 07:07:45,533 - mmdet - INFO - Epoch [9][380/3517]	lr: 3.751e-05, eta: 12:28:24, time: 0.834, data_time: 0.013, memory: 8550, loss_rec: 0.0186, loss_waypoint: 0.2157, debug_std_frame_0: 0.2577, debug_std_frame_1: 0.2944, debug_std_frame_2: 0.3530, debug_std_frame_3: 0.4123, debug_std_frame_4: 0.4792, debug_std_frame_5: 0.5349, loss_rl: -0.2435, loss_critic: 1.2027, loss_rl_bc: 0.0177, il_score: 0.6588, rl_score: 0.6468, prev_frame_loss_waypoint_0: 0.2228, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.4543, grad_norm: 49.9147, il_score_sum: 61.1729, rl_score_sum: 63.2142, score_diff: -2.0413, il_win: 73.0000, rl_win: 112.5000
2025-09-24 07:08:01,866 - mmdet - INFO - Epoch [9][400/3517]	lr: 3.751e-05, eta: 12:28:09, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2335, debug_std_frame_0: 0.2385, debug_std_frame_1: 0.2776, debug_std_frame_2: 0.3454, debug_std_frame_3: 0.4179, debug_std_frame_4: 0.4929, debug_std_frame_5: 0.5529, loss_rl: -0.1884, loss_critic: 1.2777, loss_rl_bc: 0.0226, il_score: 0.5863, rl_score: 0.6199, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.6144, grad_norm: 53.0672, il_score_sum: 61.1729, rl_score_sum: 63.2142, score_diff: -2.0413, il_win: 73.0000, rl_win: 112.5000
2025-09-24 07:08:18,043 - mmdet - INFO - Epoch [9][420/3517]	lr: 3.751e-05, eta: 12:27:53, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0187, loss_waypoint: 0.2147, debug_std_frame_0: 0.2460, debug_std_frame_1: 0.2775, debug_std_frame_2: 0.3333, debug_std_frame_3: 0.3987, debug_std_frame_4: 0.4701, debug_std_frame_5: 0.5324, loss_rl: -0.1977, loss_critic: 1.3641, loss_rl_bc: 0.0171, il_score: 0.6063, rl_score: 0.6365, prev_frame_loss_waypoint_0: 0.2398, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.6829, grad_norm: 60.2740, il_score_sum: 61.1729, rl_score_sum: 63.2142, score_diff: -2.0413, il_win: 73.0000, rl_win: 112.5000
2025-09-24 07:08:34,715 - mmdet - INFO - Epoch [9][440/3517]	lr: 3.751e-05, eta: 12:27:38, time: 0.833, data_time: 0.013, memory: 8550, loss_rec: 0.0185, loss_waypoint: 0.1925, debug_std_frame_0: 0.2475, debug_std_frame_1: 0.2806, debug_std_frame_2: 0.3351, debug_std_frame_3: 0.4019, debug_std_frame_4: 0.4727, debug_std_frame_5: 0.5325, loss_rl: -0.2478, loss_critic: 1.5564, loss_rl_bc: 0.0151, il_score: 0.6169, rl_score: 0.6368, prev_frame_loss_waypoint_0: 0.2016, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.7486, grad_norm: 56.9387, il_score_sum: 61.1729, rl_score_sum: 63.2142, score_diff: -2.0413, il_win: 73.0000, rl_win: 112.5000
2025-09-24 07:08:51,061 - mmdet - INFO - Epoch [9][460/3517]	lr: 3.751e-05, eta: 12:27:23, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0184, loss_waypoint: 0.2079, debug_std_frame_0: 0.2557, debug_std_frame_1: 0.2860, debug_std_frame_2: 0.3357, debug_std_frame_3: 0.3972, debug_std_frame_4: 0.4609, debug_std_frame_5: 0.5173, loss_rl: -0.1858, loss_critic: 1.6149, loss_rl_bc: 0.0282, il_score: 0.6095, rl_score: 0.5828, prev_frame_loss_waypoint_0: 0.2336, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.9469, grad_norm: 70.4453, il_score_sum: 61.1729, rl_score_sum: 63.2142, score_diff: -2.0413, il_win: 73.0000, rl_win: 112.5000
2025-09-24 07:09:07,559 - mmdet - INFO - Epoch [9][480/3517]	lr: 3.751e-05, eta: 12:27:07, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0214, loss_waypoint: 0.2070, debug_std_frame_0: 0.2736, debug_std_frame_1: 0.3062, debug_std_frame_2: 0.3556, debug_std_frame_3: 0.4137, debug_std_frame_4: 0.4749, debug_std_frame_5: 0.5335, loss_rl: -0.1967, loss_critic: 1.1383, loss_rl_bc: 0.0227, il_score: 0.6368, rl_score: 0.6167, prev_frame_loss_waypoint_0: 0.2157, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.4280, grad_norm: 56.1688, il_score_sum: 61.2084, rl_score_sum: 63.0484, score_diff: -1.8399, il_win: 73.0000, rl_win: 113.0000
2025-09-24 07:09:23,791 - mmdet - INFO - Epoch [9][500/3517]	lr: 3.751e-05, eta: 12:26:52, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2290, debug_std_frame_0: 0.2669, debug_std_frame_1: 0.2964, debug_std_frame_2: 0.3436, debug_std_frame_3: 0.4023, debug_std_frame_4: 0.4659, debug_std_frame_5: 0.5285, loss_rl: -0.2329, loss_critic: 1.3256, loss_rl_bc: 0.0150, il_score: 0.5631, rl_score: 0.6267, prev_frame_loss_waypoint_0: 0.2348, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.6115, grad_norm: 61.4831, il_score_sum: 61.2084, rl_score_sum: 63.0484, score_diff: -1.8399, il_win: 73.0000, rl_win: 113.0000
2025-09-24 07:09:40,542 - mmdet - INFO - Epoch [9][520/3517]	lr: 3.751e-05, eta: 12:26:37, time: 0.837, data_time: 0.011, memory: 8550, loss_rec: 0.0229, loss_waypoint: 0.2215, debug_std_frame_0: 0.2666, debug_std_frame_1: 0.3016, debug_std_frame_2: 0.3588, debug_std_frame_3: 0.4243, debug_std_frame_4: 0.4948, debug_std_frame_5: 0.5642, loss_rl: -0.1890, loss_critic: 1.4009, loss_rl_bc: 0.0230, il_score: 0.5827, rl_score: 0.5995, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.7561, grad_norm: 68.4469, il_score_sum: 61.2084, rl_score_sum: 63.0484, score_diff: -1.8399, il_win: 73.0000, rl_win: 113.0000
2025-09-24 07:09:56,820 - mmdet - INFO - Epoch [9][540/3517]	lr: 3.751e-05, eta: 12:26:21, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2854, debug_std_frame_0: 0.2762, debug_std_frame_1: 0.3064, debug_std_frame_2: 0.3566, debug_std_frame_3: 0.4159, debug_std_frame_4: 0.4820, debug_std_frame_5: 0.5442, loss_rl: -0.1891, loss_critic: 1.4371, loss_rl_bc: 0.0293, il_score: 0.5467, rl_score: 0.5934, prev_frame_loss_waypoint_0: 0.2982, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.9111, grad_norm: 99.9702, il_score_sum: 61.2084, rl_score_sum: 63.0484, score_diff: -1.8399, il_win: 73.0000, rl_win: 113.0000
2025-09-24 07:10:13,175 - mmdet - INFO - Epoch [9][560/3517]	lr: 3.751e-05, eta: 12:26:06, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.2209, debug_std_frame_0: 0.2714, debug_std_frame_1: 0.3034, debug_std_frame_2: 0.3531, debug_std_frame_3: 0.4107, debug_std_frame_4: 0.4699, debug_std_frame_5: 0.5307, loss_rl: -0.2509, loss_critic: 1.5687, loss_rl_bc: 0.0149, il_score: 0.6161, rl_score: 0.6536, prev_frame_loss_waypoint_0: 0.2408, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.8320, grad_norm: 57.3229, il_score_sum: 61.2084, rl_score_sum: 63.0484, score_diff: -1.8399, il_win: 73.0000, rl_win: 113.0000
2025-09-24 07:10:29,560 - mmdet - INFO - Epoch [9][580/3517]	lr: 3.751e-05, eta: 12:25:50, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0208, loss_waypoint: 0.1974, debug_std_frame_0: 0.2654, debug_std_frame_1: 0.2969, debug_std_frame_2: 0.3470, debug_std_frame_3: 0.4036, debug_std_frame_4: 0.4627, debug_std_frame_5: 0.5194, loss_rl: -0.2216, loss_critic: 1.3518, loss_rl_bc: 0.0155, il_score: 0.5719, rl_score: 0.6164, prev_frame_loss_waypoint_0: 0.2165, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.5985, grad_norm: 46.9149, il_score_sum: 60.7758, rl_score_sum: 62.8598, score_diff: -2.0840, il_win: 73.0000, rl_win: 113.5000
2025-09-24 07:10:45,675 - mmdet - INFO - Epoch [9][600/3517]	lr: 3.751e-05, eta: 12:25:34, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2055, debug_std_frame_0: 0.2440, debug_std_frame_1: 0.2758, debug_std_frame_2: 0.3283, debug_std_frame_3: 0.3877, debug_std_frame_4: 0.4513, debug_std_frame_5: 0.5075, loss_rl: -0.2253, loss_critic: 1.4062, loss_rl_bc: 0.0122, il_score: 0.6036, rl_score: 0.6182, prev_frame_loss_waypoint_0: 0.2301, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.6674, grad_norm: 51.3183, il_score_sum: 60.7758, rl_score_sum: 62.8598, score_diff: -2.0840, il_win: 73.0000, rl_win: 113.5000
2025-09-24 07:11:01,989 - mmdet - INFO - Epoch [9][620/3517]	lr: 3.751e-05, eta: 12:25:19, time: 0.816, data_time: 0.014, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.2198, debug_std_frame_0: 0.2488, debug_std_frame_1: 0.2785, debug_std_frame_2: 0.3264, debug_std_frame_3: 0.3854, debug_std_frame_4: 0.4425, debug_std_frame_5: 0.5011, loss_rl: -0.2496, loss_critic: 1.3479, loss_rl_bc: 0.0184, il_score: 0.6352, rl_score: 0.6603, prev_frame_loss_waypoint_0: 0.2248, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.5958, grad_norm: 65.5285, il_score_sum: 60.7758, rl_score_sum: 62.8598, score_diff: -2.0840, il_win: 73.0000, rl_win: 113.5000
2025-09-24 07:11:18,079 - mmdet - INFO - Epoch [9][640/3517]	lr: 3.751e-05, eta: 12:25:03, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1916, debug_std_frame_0: 0.2433, debug_std_frame_1: 0.2703, debug_std_frame_2: 0.3195, debug_std_frame_3: 0.3827, debug_std_frame_4: 0.4439, debug_std_frame_5: 0.5043, loss_rl: -0.2331, loss_critic: 1.4725, loss_rl_bc: 0.0121, il_score: 0.6057, rl_score: 0.6318, prev_frame_loss_waypoint_0: 0.2186, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.7008, grad_norm: 42.7002, il_score_sum: 60.7758, rl_score_sum: 62.8598, score_diff: -2.0840, il_win: 73.0000, rl_win: 113.5000
2025-09-24 07:11:34,146 - mmdet - INFO - Epoch [9][660/3517]	lr: 3.751e-05, eta: 12:24:46, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0196, loss_waypoint: 0.1986, debug_std_frame_0: 0.2376, debug_std_frame_1: 0.2601, debug_std_frame_2: 0.3091, debug_std_frame_3: 0.3655, debug_std_frame_4: 0.4202, debug_std_frame_5: 0.4761, loss_rl: -0.2649, loss_critic: 1.2539, loss_rl_bc: 0.0190, il_score: 0.6422, rl_score: 0.6482, prev_frame_loss_waypoint_0: 0.1952, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.4325, grad_norm: 56.3174, il_score_sum: 60.7758, rl_score_sum: 62.8598, score_diff: -2.0840, il_win: 73.0000, rl_win: 113.5000
2025-09-24 07:11:50,721 - mmdet - INFO - Epoch [9][680/3517]	lr: 3.751e-05, eta: 12:24:31, time: 0.829, data_time: 0.013, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.2236, debug_std_frame_0: 0.2510, debug_std_frame_1: 0.2824, debug_std_frame_2: 0.3431, debug_std_frame_3: 0.4131, debug_std_frame_4: 0.4791, debug_std_frame_5: 0.5457, loss_rl: -0.1926, loss_critic: 1.2042, loss_rl_bc: 0.0204, il_score: 0.5631, rl_score: 0.6111, prev_frame_loss_waypoint_0: 0.2338, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.5364, grad_norm: 52.1442, il_score_sum: 60.8509, rl_score_sum: 62.9110, score_diff: -2.0601, il_win: 73.0000, rl_win: 114.0000
2025-09-24 07:12:06,846 - mmdet - INFO - Epoch [9][700/3517]	lr: 3.751e-05, eta: 12:24:15, time: 0.806, data_time: 0.014, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.2156, debug_std_frame_0: 0.2634, debug_std_frame_1: 0.2951, debug_std_frame_2: 0.3532, debug_std_frame_3: 0.4224, debug_std_frame_4: 0.4889, debug_std_frame_5: 0.5550, loss_rl: -0.1833, loss_critic: 1.1751, loss_rl_bc: 0.0189, il_score: 0.5733, rl_score: 0.6002, prev_frame_loss_waypoint_0: 0.2357, prev_frame_loss_rl_bc_0: 0.0223, loss: 1.5075, grad_norm: 56.2459, il_score_sum: 60.8509, rl_score_sum: 62.9110, score_diff: -2.0601, il_win: 73.0000, rl_win: 114.0000
2025-09-24 07:12:23,356 - mmdet - INFO - Epoch [9][720/3517]	lr: 3.751e-05, eta: 12:24:00, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.1823, debug_std_frame_0: 0.2516, debug_std_frame_1: 0.2790, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3895, debug_std_frame_4: 0.4473, debug_std_frame_5: 0.5061, loss_rl: -0.2754, loss_critic: 1.2877, loss_rl_bc: 0.0124, il_score: 0.6740, rl_score: 0.6787, prev_frame_loss_waypoint_0: 0.1974, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.4354, grad_norm: 60.8658, il_score_sum: 60.8509, rl_score_sum: 62.9110, score_diff: -2.0601, il_win: 73.0000, rl_win: 114.0000
2025-09-24 07:12:39,710 - mmdet - INFO - Epoch [9][740/3517]	lr: 3.751e-05, eta: 12:23:45, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2113, debug_std_frame_0: 0.2516, debug_std_frame_1: 0.2801, debug_std_frame_2: 0.3267, debug_std_frame_3: 0.3891, debug_std_frame_4: 0.4490, debug_std_frame_5: 0.5075, loss_rl: -0.1775, loss_critic: 1.3611, loss_rl_bc: 0.0297, il_score: 0.6435, rl_score: 0.6158, prev_frame_loss_waypoint_0: 0.2286, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.7023, grad_norm: 69.9019, il_score_sum: 60.8509, rl_score_sum: 62.9110, score_diff: -2.0601, il_win: 73.0000, rl_win: 114.0000
2025-09-24 07:12:56,122 - mmdet - INFO - Epoch [9][760/3517]	lr: 3.751e-05, eta: 12:23:29, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.1978, debug_std_frame_0: 0.2603, debug_std_frame_1: 0.2915, debug_std_frame_2: 0.3392, debug_std_frame_3: 0.3960, debug_std_frame_4: 0.4507, debug_std_frame_5: 0.5069, loss_rl: -0.1982, loss_critic: 1.4173, loss_rl_bc: 0.0243, il_score: 0.6418, rl_score: 0.6382, prev_frame_loss_waypoint_0: 0.1873, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.6693, grad_norm: 50.6947, il_score_sum: 60.8509, rl_score_sum: 62.9110, score_diff: -2.0601, il_win: 73.0000, rl_win: 114.0000
2025-09-24 07:13:12,736 - mmdet - INFO - Epoch [9][780/3517]	lr: 3.751e-05, eta: 12:23:14, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2255, debug_std_frame_0: 0.2659, debug_std_frame_1: 0.3057, debug_std_frame_2: 0.3639, debug_std_frame_3: 0.4289, debug_std_frame_4: 0.4872, debug_std_frame_5: 0.5458, loss_rl: -0.2016, loss_critic: 1.2582, loss_rl_bc: 0.0244, il_score: 0.6012, rl_score: 0.6223, prev_frame_loss_waypoint_0: 0.2314, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.5838, grad_norm: 34.2926, il_score_sum: 61.0082, rl_score_sum: 62.9547, score_diff: -1.9466, il_win: 73.0000, rl_win: 114.5000
2025-09-24 07:13:28,874 - mmdet - INFO - Epoch [9][800/3517]	lr: 3.751e-05, eta: 12:22:58, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2340, debug_std_frame_0: 0.2523, debug_std_frame_1: 0.2853, debug_std_frame_2: 0.3391, debug_std_frame_3: 0.4094, debug_std_frame_4: 0.4731, debug_std_frame_5: 0.5364, loss_rl: -0.1934, loss_critic: 1.2209, loss_rl_bc: 0.0200, il_score: 0.6096, rl_score: 0.6300, prev_frame_loss_waypoint_0: 0.2307, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.5525, grad_norm: 67.6107, il_score_sum: 61.0082, rl_score_sum: 62.9547, score_diff: -1.9466, il_win: 73.0000, rl_win: 114.5000
2025-09-24 07:13:45,088 - mmdet - INFO - Epoch [9][820/3517]	lr: 3.751e-05, eta: 12:22:42, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1907, debug_std_frame_0: 0.2571, debug_std_frame_1: 0.2852, debug_std_frame_2: 0.3392, debug_std_frame_3: 0.4015, debug_std_frame_4: 0.4607, debug_std_frame_5: 0.5206, loss_rl: -0.1913, loss_critic: 1.2006, loss_rl_bc: 0.0196, il_score: 0.6270, rl_score: 0.6173, prev_frame_loss_waypoint_0: 0.2183, prev_frame_loss_rl_bc_0: 0.0256, loss: 1.4883, grad_norm: 62.9080, il_score_sum: 61.0082, rl_score_sum: 62.9547, score_diff: -1.9466, il_win: 73.0000, rl_win: 114.5000
2025-09-24 07:14:01,255 - mmdet - INFO - Epoch [9][840/3517]	lr: 3.751e-05, eta: 12:22:27, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.2181, debug_std_frame_0: 0.2645, debug_std_frame_1: 0.3000, debug_std_frame_2: 0.3578, debug_std_frame_3: 0.4178, debug_std_frame_4: 0.4744, debug_std_frame_5: 0.5327, loss_rl: -0.2167, loss_critic: 1.4346, loss_rl_bc: 0.0192, il_score: 0.6160, rl_score: 0.6267, prev_frame_loss_waypoint_0: 0.2282, prev_frame_loss_rl_bc_0: 0.0211, loss: 1.7274, grad_norm: 50.8271, il_score_sum: 61.0082, rl_score_sum: 62.9547, score_diff: -1.9466, il_win: 73.0000, rl_win: 114.5000
2025-09-24 07:14:17,406 - mmdet - INFO - Epoch [9][860/3517]	lr: 3.751e-05, eta: 12:22:11, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.2116, debug_std_frame_0: 0.2552, debug_std_frame_1: 0.2871, debug_std_frame_2: 0.3399, debug_std_frame_3: 0.3996, debug_std_frame_4: 0.4545, debug_std_frame_5: 0.5144, loss_rl: -0.1860, loss_critic: 1.3555, loss_rl_bc: 0.0230, il_score: 0.6287, rl_score: 0.6102, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.6910, grad_norm: 55.7033, il_score_sum: 61.0082, rl_score_sum: 62.9547, score_diff: -1.9466, il_win: 73.0000, rl_win: 114.5000
2025-09-24 07:14:33,682 - mmdet - INFO - Epoch [9][880/3517]	lr: 3.751e-05, eta: 12:21:55, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2147, debug_std_frame_0: 0.2741, debug_std_frame_1: 0.3120, debug_std_frame_2: 0.3759, debug_std_frame_3: 0.4408, debug_std_frame_4: 0.5045, debug_std_frame_5: 0.5683, loss_rl: -0.1843, loss_critic: 1.1294, loss_rl_bc: 0.0211, il_score: 0.6378, rl_score: 0.6133, prev_frame_loss_waypoint_0: 0.2353, prev_frame_loss_rl_bc_0: 0.0395, loss: 1.4766, grad_norm: 48.1521, il_score_sum: 61.1339, rl_score_sum: 62.8827, score_diff: -1.7488, il_win: 73.0000, rl_win: 114.8889
2025-09-24 07:14:49,825 - mmdet - INFO - Epoch [9][900/3517]	lr: 3.751e-05, eta: 12:21:39, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.1974, debug_std_frame_0: 0.2959, debug_std_frame_1: 0.3282, debug_std_frame_2: 0.3743, debug_std_frame_3: 0.4285, debug_std_frame_4: 0.4842, debug_std_frame_5: 0.5413, loss_rl: -0.2562, loss_critic: 1.4156, loss_rl_bc: 0.0154, il_score: 0.6385, rl_score: 0.6505, prev_frame_loss_waypoint_0: 0.2069, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.6169, grad_norm: 51.1392, il_score_sum: 61.1339, rl_score_sum: 62.8827, score_diff: -1.7488, il_win: 73.0000, rl_win: 114.8889
2025-09-24 07:15:06,015 - mmdet - INFO - Epoch [9][920/3517]	lr: 3.751e-05, eta: 12:21:23, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2101, debug_std_frame_0: 0.2855, debug_std_frame_1: 0.3196, debug_std_frame_2: 0.3677, debug_std_frame_3: 0.4248, debug_std_frame_4: 0.4805, debug_std_frame_5: 0.5352, loss_rl: -0.2588, loss_critic: 1.1905, loss_rl_bc: 0.0160, il_score: 0.6020, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.2294, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.4271, grad_norm: 58.4815, il_score_sum: 61.1339, rl_score_sum: 62.8827, score_diff: -1.7488, il_win: 73.0000, rl_win: 114.8889
2025-09-24 07:15:21,953 - mmdet - INFO - Epoch [9][940/3517]	lr: 3.751e-05, eta: 12:21:07, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.2087, debug_std_frame_0: 0.2704, debug_std_frame_1: 0.3063, debug_std_frame_2: 0.3539, debug_std_frame_3: 0.4096, debug_std_frame_4: 0.4629, debug_std_frame_5: 0.5210, loss_rl: -0.2057, loss_critic: 1.2570, loss_rl_bc: 0.0276, il_score: 0.6214, rl_score: 0.6204, prev_frame_loss_waypoint_0: 0.2246, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.5579, grad_norm: 56.3565, il_score_sum: 61.1339, rl_score_sum: 62.8827, score_diff: -1.7488, il_win: 73.0000, rl_win: 114.8889
2025-09-24 07:15:37,972 - mmdet - INFO - Epoch [9][960/3517]	lr: 3.751e-05, eta: 12:20:51, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2178, debug_std_frame_0: 0.2848, debug_std_frame_1: 0.3189, debug_std_frame_2: 0.3665, debug_std_frame_3: 0.4232, debug_std_frame_4: 0.4747, debug_std_frame_5: 0.5349, loss_rl: -0.2266, loss_critic: 1.1003, loss_rl_bc: 0.0172, il_score: 0.6341, rl_score: 0.6314, prev_frame_loss_waypoint_0: 0.2209, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.3684, grad_norm: 60.0436, il_score_sum: 61.1339, rl_score_sum: 62.8827, score_diff: -1.7488, il_win: 73.0000, rl_win: 114.8889
2025-09-24 07:15:54,138 - mmdet - INFO - Epoch [9][980/3517]	lr: 3.751e-05, eta: 12:20:35, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.1888, debug_std_frame_0: 0.2541, debug_std_frame_1: 0.2902, debug_std_frame_2: 0.3389, debug_std_frame_3: 0.3940, debug_std_frame_4: 0.4463, debug_std_frame_5: 0.4997, loss_rl: -0.2082, loss_critic: 1.4723, loss_rl_bc: 0.0131, il_score: 0.6051, rl_score: 0.6235, prev_frame_loss_waypoint_0: 0.1955, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.6966, grad_norm: 61.0592, il_score_sum: 61.2232, rl_score_sum: 62.8738, score_diff: -1.6506, il_win: 73.0000, rl_win: 115.2000
2025-09-24 07:16:10,355 - mmdet - INFO - Epoch [9][1000/3517]	lr: 3.751e-05, eta: 12:20:19, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.1883, debug_std_frame_0: 0.2665, debug_std_frame_1: 0.3014, debug_std_frame_2: 0.3514, debug_std_frame_3: 0.4086, debug_std_frame_4: 0.4620, debug_std_frame_5: 0.5206, loss_rl: -0.1954, loss_critic: 1.4328, loss_rl_bc: 0.0230, il_score: 0.6282, rl_score: 0.5997, prev_frame_loss_waypoint_0: 0.2025, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.6964, grad_norm: 60.6829, il_score_sum: 61.2232, rl_score_sum: 62.8738, score_diff: -1.6506, il_win: 73.0000, rl_win: 115.2000
2025-09-24 07:16:26,524 - mmdet - INFO - Epoch [9][1020/3517]	lr: 3.751e-05, eta: 12:20:03, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2370, debug_std_frame_0: 0.2795, debug_std_frame_1: 0.3176, debug_std_frame_2: 0.3659, debug_std_frame_3: 0.4215, debug_std_frame_4: 0.4747, debug_std_frame_5: 0.5348, loss_rl: -0.2025, loss_critic: 1.1820, loss_rl_bc: 0.0227, il_score: 0.6197, rl_score: 0.6234, prev_frame_loss_waypoint_0: 0.2521, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.5359, grad_norm: 72.6416, il_score_sum: 61.2232, rl_score_sum: 62.8738, score_diff: -1.6506, il_win: 73.0000, rl_win: 115.2000
2025-09-24 07:16:42,692 - mmdet - INFO - Epoch [9][1040/3517]	lr: 3.751e-05, eta: 12:19:47, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0193, loss_waypoint: 0.1856, debug_std_frame_0: 0.2735, debug_std_frame_1: 0.3026, debug_std_frame_2: 0.3451, debug_std_frame_3: 0.3956, debug_std_frame_4: 0.4435, debug_std_frame_5: 0.5008, loss_rl: -0.2565, loss_critic: 1.3043, loss_rl_bc: 0.0154, il_score: 0.6480, rl_score: 0.6432, prev_frame_loss_waypoint_0: 0.2047, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.4898, grad_norm: 56.4890, il_score_sum: 61.2232, rl_score_sum: 62.8738, score_diff: -1.6506, il_win: 73.0000, rl_win: 115.2000
2025-09-24 07:16:58,713 - mmdet - INFO - Epoch [9][1060/3517]	lr: 3.751e-05, eta: 12:19:31, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0211, loss_waypoint: 0.2316, debug_std_frame_0: 0.2973, debug_std_frame_1: 0.3289, debug_std_frame_2: 0.3745, debug_std_frame_3: 0.4255, debug_std_frame_4: 0.4778, debug_std_frame_5: 0.5357, loss_rl: -0.1442, loss_critic: 1.8575, loss_rl_bc: 0.0422, il_score: 0.5511, rl_score: 0.5249, prev_frame_loss_waypoint_0: 0.2705, prev_frame_loss_rl_bc_0: 0.0467, loss: 2.3254, grad_norm: 94.8046, il_score_sum: 61.2232, rl_score_sum: 62.8738, score_diff: -1.6506, il_win: 73.0000, rl_win: 115.2000
2025-09-24 07:17:15,180 - mmdet - INFO - Epoch [9][1080/3517]	lr: 3.751e-05, eta: 12:19:16, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0211, loss_waypoint: 0.2303, debug_std_frame_0: 0.3301, debug_std_frame_1: 0.3585, debug_std_frame_2: 0.3990, debug_std_frame_3: 0.4450, debug_std_frame_4: 0.4926, debug_std_frame_5: 0.5482, loss_rl: -0.1972, loss_critic: 1.3728, loss_rl_bc: 0.0344, il_score: 0.6089, rl_score: 0.5807, prev_frame_loss_waypoint_0: 0.2293, prev_frame_loss_rl_bc_0: 0.0336, loss: 1.7244, grad_norm: 77.7016, il_score_sum: 61.2211, rl_score_sum: 62.6042, score_diff: -1.3832, il_win: 73.0909, rl_win: 115.4545
2025-09-24 07:17:31,526 - mmdet - INFO - Epoch [9][1100/3517]	lr: 3.751e-05, eta: 12:19:00, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.2402, debug_std_frame_0: 0.3499, debug_std_frame_1: 0.3827, debug_std_frame_2: 0.4285, debug_std_frame_3: 0.4781, debug_std_frame_4: 0.5290, debug_std_frame_5: 0.5858, loss_rl: -0.1582, loss_critic: 1.2690, loss_rl_bc: 0.0323, il_score: 0.5722, rl_score: 0.5519, prev_frame_loss_waypoint_0: 0.2581, prev_frame_loss_rl_bc_0: 0.0370, loss: 1.6984, grad_norm: 74.6444, il_score_sum: 61.2211, rl_score_sum: 62.6042, score_diff: -1.3832, il_win: 73.0909, rl_win: 115.4545
2025-09-24 07:17:47,615 - mmdet - INFO - Epoch [9][1120/3517]	lr: 3.751e-05, eta: 12:18:44, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0213, loss_waypoint: 0.2216, debug_std_frame_0: 0.3404, debug_std_frame_1: 0.3706, debug_std_frame_2: 0.4125, debug_std_frame_3: 0.4603, debug_std_frame_4: 0.5067, debug_std_frame_5: 0.5586, loss_rl: -0.2742, loss_critic: 1.2201, loss_rl_bc: 0.0224, il_score: 0.6240, rl_score: 0.6311, prev_frame_loss_waypoint_0: 0.2147, prev_frame_loss_rl_bc_0: 0.0204, loss: 1.4464, grad_norm: 60.4333, il_score_sum: 61.2211, rl_score_sum: 62.6042, score_diff: -1.3832, il_win: 73.0909, rl_win: 115.4545
2025-09-24 07:18:03,663 - mmdet - INFO - Epoch [9][1140/3517]	lr: 3.751e-05, eta: 12:18:28, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0205, loss_waypoint: 0.2214, debug_std_frame_0: 0.3282, debug_std_frame_1: 0.3604, debug_std_frame_2: 0.4068, debug_std_frame_3: 0.4578, debug_std_frame_4: 0.5086, debug_std_frame_5: 0.5647, loss_rl: -0.2173, loss_critic: 1.4852, loss_rl_bc: 0.0259, il_score: 0.5842, rl_score: 0.6204, prev_frame_loss_waypoint_0: 0.2493, prev_frame_loss_rl_bc_0: 0.0294, loss: 1.8145, grad_norm: 59.3996, il_score_sum: 61.2211, rl_score_sum: 62.6042, score_diff: -1.3832, il_win: 73.0909, rl_win: 115.4545
2025-09-24 07:18:19,992 - mmdet - INFO - Epoch [9][1160/3517]	lr: 3.751e-05, eta: 12:18:12, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.2119, debug_std_frame_0: 0.3146, debug_std_frame_1: 0.3463, debug_std_frame_2: 0.3922, debug_std_frame_3: 0.4438, debug_std_frame_4: 0.4943, debug_std_frame_5: 0.5492, loss_rl: -0.2348, loss_critic: 1.4518, loss_rl_bc: 0.0180, il_score: 0.5891, rl_score: 0.6056, prev_frame_loss_waypoint_0: 0.2446, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.7352, grad_norm: 70.3825, il_score_sum: 61.2211, rl_score_sum: 62.6042, score_diff: -1.3832, il_win: 73.0909, rl_win: 115.4545
2025-09-24 07:18:36,306 - mmdet - INFO - Epoch [9][1180/3517]	lr: 3.751e-05, eta: 12:17:57, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0211, loss_waypoint: 0.2096, debug_std_frame_0: 0.2968, debug_std_frame_1: 0.3337, debug_std_frame_2: 0.3851, debug_std_frame_3: 0.4429, debug_std_frame_4: 0.4966, debug_std_frame_5: 0.5517, loss_rl: -0.2214, loss_critic: 1.3658, loss_rl_bc: 0.0190, il_score: 0.6023, rl_score: 0.6076, prev_frame_loss_waypoint_0: 0.2414, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.6560, grad_norm: 56.0245, il_score_sum: 61.0585, rl_score_sum: 62.4032, score_diff: -1.3447, il_win: 73.1667, rl_win: 115.6667
2025-09-24 07:18:52,282 - mmdet - INFO - Epoch [9][1200/3517]	lr: 3.751e-05, eta: 12:17:40, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.2526, debug_std_frame_0: 0.2728, debug_std_frame_1: 0.3059, debug_std_frame_2: 0.3554, debug_std_frame_3: 0.4132, debug_std_frame_4: 0.4668, debug_std_frame_5: 0.5254, loss_rl: -0.2004, loss_critic: 1.4470, loss_rl_bc: 0.0209, il_score: 0.6040, rl_score: 0.6366, prev_frame_loss_waypoint_0: 0.2590, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.8223, grad_norm: 71.3786, il_score_sum: 61.0585, rl_score_sum: 62.4032, score_diff: -1.3447, il_win: 73.1667, rl_win: 115.6667
2025-09-24 07:19:08,209 - mmdet - INFO - Epoch [9][1220/3517]	lr: 3.751e-05, eta: 12:17:24, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0214, loss_waypoint: 0.2024, debug_std_frame_0: 0.2619, debug_std_frame_1: 0.2906, debug_std_frame_2: 0.3373, debug_std_frame_3: 0.3902, debug_std_frame_4: 0.4421, debug_std_frame_5: 0.4989, loss_rl: -0.2466, loss_critic: 1.3977, loss_rl_bc: 0.0153, il_score: 0.6161, rl_score: 0.6503, prev_frame_loss_waypoint_0: 0.2027, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.6045, grad_norm: 64.2414, il_score_sum: 61.0585, rl_score_sum: 62.4032, score_diff: -1.3447, il_win: 73.1667, rl_win: 115.6667
2025-09-24 07:19:24,330 - mmdet - INFO - Epoch [9][1240/3517]	lr: 3.751e-05, eta: 12:17:08, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1897, debug_std_frame_0: 0.2566, debug_std_frame_1: 0.2851, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.3958, debug_std_frame_4: 0.4538, debug_std_frame_5: 0.5134, loss_rl: -0.2562, loss_critic: 1.4261, loss_rl_bc: 0.0105, il_score: 0.6004, rl_score: 0.6259, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.6257, grad_norm: 53.8535, il_score_sum: 61.0585, rl_score_sum: 62.4032, score_diff: -1.3447, il_win: 73.1667, rl_win: 115.6667
2025-09-24 07:19:40,290 - mmdet - INFO - Epoch [9][1260/3517]	lr: 3.751e-05, eta: 12:16:52, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0211, loss_waypoint: 0.2010, debug_std_frame_0: 0.2365, debug_std_frame_1: 0.2614, debug_std_frame_2: 0.3146, debug_std_frame_3: 0.3743, debug_std_frame_4: 0.4317, debug_std_frame_5: 0.4936, loss_rl: -0.2018, loss_critic: 1.2954, loss_rl_bc: 0.0167, il_score: 0.6337, rl_score: 0.6381, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.5386, grad_norm: 51.8099, il_score_sum: 61.0585, rl_score_sum: 62.4032, score_diff: -1.3447, il_win: 73.1667, rl_win: 115.6667
2025-09-24 07:19:56,813 - mmdet - INFO - Epoch [9][1280/3517]	lr: 3.751e-05, eta: 12:16:36, time: 0.823, data_time: 0.012, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.2027, debug_std_frame_0: 0.2358, debug_std_frame_1: 0.2590, debug_std_frame_2: 0.3108, debug_std_frame_3: 0.3662, debug_std_frame_4: 0.4219, debug_std_frame_5: 0.4786, loss_rl: -0.1981, loss_critic: 1.1249, loss_rl_bc: 0.0151, il_score: 0.6318, rl_score: 0.6450, prev_frame_loss_waypoint_0: 0.2354, prev_frame_loss_rl_bc_0: 0.0204, loss: 1.4234, grad_norm: 71.3706, il_score_sum: 61.0990, rl_score_sum: 62.4831, score_diff: -1.3840, il_win: 73.2308, rl_win: 115.9231
2025-09-24 07:20:12,840 - mmdet - INFO - Epoch [9][1300/3517]	lr: 3.751e-05, eta: 12:16:20, time: 0.805, data_time: 0.016, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.2178, debug_std_frame_0: 0.2425, debug_std_frame_1: 0.2710, debug_std_frame_2: 0.3247, debug_std_frame_3: 0.3858, debug_std_frame_4: 0.4482, debug_std_frame_5: 0.5055, loss_rl: -0.2214, loss_critic: 1.3295, loss_rl_bc: 0.0170, il_score: 0.6231, rl_score: 0.6425, prev_frame_loss_waypoint_0: 0.2315, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.6172, grad_norm: 69.3030, il_score_sum: 61.0990, rl_score_sum: 62.4831, score_diff: -1.3840, il_win: 73.2308, rl_win: 115.9231
2025-09-24 07:20:28,983 - mmdet - INFO - Epoch [9][1320/3517]	lr: 3.751e-05, eta: 12:16:04, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0224, loss_waypoint: 0.2156, debug_std_frame_0: 0.2512, debug_std_frame_1: 0.2836, debug_std_frame_2: 0.3393, debug_std_frame_3: 0.4043, debug_std_frame_4: 0.4699, debug_std_frame_5: 0.5321, loss_rl: -0.1551, loss_critic: 1.3513, loss_rl_bc: 0.0243, il_score: 0.5880, rl_score: 0.6108, prev_frame_loss_waypoint_0: 0.2391, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.7256, grad_norm: 72.1630, il_score_sum: 61.0990, rl_score_sum: 62.4831, score_diff: -1.3840, il_win: 73.2308, rl_win: 115.9231
2025-09-24 07:20:45,016 - mmdet - INFO - Epoch [9][1340/3517]	lr: 3.751e-05, eta: 12:15:48, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.2321, debug_std_frame_0: 0.2720, debug_std_frame_1: 0.3045, debug_std_frame_2: 0.3636, debug_std_frame_3: 0.4294, debug_std_frame_4: 0.4974, debug_std_frame_5: 0.5609, loss_rl: -0.2124, loss_critic: 1.0814, loss_rl_bc: 0.0241, il_score: 0.6086, rl_score: 0.6192, prev_frame_loss_waypoint_0: 0.2306, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.3941, grad_norm: 56.7320, il_score_sum: 61.0990, rl_score_sum: 62.4831, score_diff: -1.3840, il_win: 73.2308, rl_win: 115.9231
2025-09-24 07:21:00,974 - mmdet - INFO - Epoch [9][1360/3517]	lr: 3.751e-05, eta: 12:15:32, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.1976, debug_std_frame_0: 0.2686, debug_std_frame_1: 0.2948, debug_std_frame_2: 0.3404, debug_std_frame_3: 0.3908, debug_std_frame_4: 0.4476, debug_std_frame_5: 0.5071, loss_rl: -0.2961, loss_critic: 1.3528, loss_rl_bc: 0.0144, il_score: 0.6543, rl_score: 0.6632, prev_frame_loss_waypoint_0: 0.2260, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5324, grad_norm: 45.7682, il_score_sum: 61.0990, rl_score_sum: 62.4831, score_diff: -1.3840, il_win: 73.2308, rl_win: 115.9231
2025-09-24 07:21:17,037 - mmdet - INFO - Epoch [9][1380/3517]	lr: 3.751e-05, eta: 12:15:16, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2057, debug_std_frame_0: 0.2539, debug_std_frame_1: 0.2897, debug_std_frame_2: 0.3538, debug_std_frame_3: 0.4161, debug_std_frame_4: 0.4816, debug_std_frame_5: 0.5478, loss_rl: -0.2182, loss_critic: 1.4287, loss_rl_bc: 0.0144, il_score: 0.5970, rl_score: 0.6008, prev_frame_loss_waypoint_0: 0.2294, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.6967, grad_norm: 73.0328, il_score_sum: 61.1449, rl_score_sum: 62.5540, score_diff: -1.4092, il_win: 73.2857, rl_win: 116.2143
2025-09-24 07:21:33,171 - mmdet - INFO - Epoch [9][1400/3517]	lr: 3.751e-05, eta: 12:15:00, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2048, debug_std_frame_0: 0.2406, debug_std_frame_1: 0.2721, debug_std_frame_2: 0.3341, debug_std_frame_3: 0.3911, debug_std_frame_4: 0.4524, debug_std_frame_5: 0.5165, loss_rl: -0.1808, loss_critic: 1.4264, loss_rl_bc: 0.0195, il_score: 0.6110, rl_score: 0.6230, prev_frame_loss_waypoint_0: 0.2167, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.7288, grad_norm: 48.8747, il_score_sum: 61.1449, rl_score_sum: 62.5540, score_diff: -1.4092, il_win: 73.2857, rl_win: 116.2143
2025-09-24 07:21:49,123 - mmdet - INFO - Epoch [9][1420/3517]	lr: 3.751e-05, eta: 12:14:44, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1798, debug_std_frame_0: 0.2517, debug_std_frame_1: 0.2832, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.3893, debug_std_frame_4: 0.4429, debug_std_frame_5: 0.4990, loss_rl: -0.2145, loss_critic: 1.5958, loss_rl_bc: 0.0139, il_score: 0.6318, rl_score: 0.6349, prev_frame_loss_waypoint_0: 0.2041, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.8228, grad_norm: 55.9382, il_score_sum: 61.1449, rl_score_sum: 62.5540, score_diff: -1.4092, il_win: 73.2857, rl_win: 116.2143
2025-09-24 07:22:05,147 - mmdet - INFO - Epoch [9][1440/3517]	lr: 3.751e-05, eta: 12:14:27, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2077, debug_std_frame_0: 0.2711, debug_std_frame_1: 0.3074, debug_std_frame_2: 0.3594, debug_std_frame_3: 0.4088, debug_std_frame_4: 0.4650, debug_std_frame_5: 0.5197, loss_rl: -0.2582, loss_critic: 1.3817, loss_rl_bc: 0.0180, il_score: 0.6533, rl_score: 0.6519, prev_frame_loss_waypoint_0: 0.2184, prev_frame_loss_rl_bc_0: 0.0225, loss: 1.6126, grad_norm: 64.1933, il_score_sum: 61.1449, rl_score_sum: 62.5540, score_diff: -1.4092, il_win: 73.2857, rl_win: 116.2143
2025-09-24 07:22:20,965 - mmdet - INFO - Epoch [9][1460/3517]	lr: 3.751e-05, eta: 12:14:11, time: 0.792, data_time: 0.014, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.2266, debug_std_frame_0: 0.2695, debug_std_frame_1: 0.3033, debug_std_frame_2: 0.3546, debug_std_frame_3: 0.4065, debug_std_frame_4: 0.4635, debug_std_frame_5: 0.5247, loss_rl: -0.2083, loss_critic: 1.2288, loss_rl_bc: 0.0204, il_score: 0.6081, rl_score: 0.6333, prev_frame_loss_waypoint_0: 0.2482, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.5634, grad_norm: 68.1243, il_score_sum: 61.1449, rl_score_sum: 62.5540, score_diff: -1.4092, il_win: 73.2857, rl_win: 116.2143
2025-09-24 07:22:37,289 - mmdet - INFO - Epoch [9][1480/3517]	lr: 3.751e-05, eta: 12:13:55, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2700, debug_std_frame_0: 0.2835, debug_std_frame_1: 0.3189, debug_std_frame_2: 0.3713, debug_std_frame_3: 0.4217, debug_std_frame_4: 0.4786, debug_std_frame_5: 0.5401, loss_rl: -0.2002, loss_critic: 1.2238, loss_rl_bc: 0.0225, il_score: 0.5416, rl_score: 0.6028, prev_frame_loss_waypoint_0: 0.2892, prev_frame_loss_rl_bc_0: 0.0248, loss: 1.6555, grad_norm: 86.5620, il_score_sum: 61.1703, rl_score_sum: 62.5680, score_diff: -1.3976, il_win: 73.3333, rl_win: 116.5333
2025-09-24 07:22:53,172 - mmdet - INFO - Epoch [9][1500/3517]	lr: 3.751e-05, eta: 12:13:39, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.2488, debug_std_frame_0: 0.2678, debug_std_frame_1: 0.3027, debug_std_frame_2: 0.3563, debug_std_frame_3: 0.4080, debug_std_frame_4: 0.4651, debug_std_frame_5: 0.5231, loss_rl: -0.2236, loss_critic: 1.4180, loss_rl_bc: 0.0169, il_score: 0.5667, rl_score: 0.6306, prev_frame_loss_waypoint_0: 0.2607, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.7610, grad_norm: 66.0221, il_score_sum: 61.1703, rl_score_sum: 62.5680, score_diff: -1.3976, il_win: 73.3333, rl_win: 116.5333
2025-09-24 07:23:09,154 - mmdet - INFO - Epoch [9][1520/3517]	lr: 3.751e-05, eta: 12:13:23, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2216, debug_std_frame_0: 0.2560, debug_std_frame_1: 0.2870, debug_std_frame_2: 0.3360, debug_std_frame_3: 0.3858, debug_std_frame_4: 0.4405, debug_std_frame_5: 0.4983, loss_rl: -0.1820, loss_critic: 1.4952, loss_rl_bc: 0.0166, il_score: 0.5444, rl_score: 0.5818, prev_frame_loss_waypoint_0: 0.2497, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.8443, grad_norm: 69.9828, il_score_sum: 61.1703, rl_score_sum: 62.5680, score_diff: -1.3976, il_win: 73.3333, rl_win: 116.5333
2025-09-24 07:23:25,022 - mmdet - INFO - Epoch [9][1540/3517]	lr: 3.751e-05, eta: 12:13:06, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1905, debug_std_frame_0: 0.2404, debug_std_frame_1: 0.2716, debug_std_frame_2: 0.3247, debug_std_frame_3: 0.3762, debug_std_frame_4: 0.4304, debug_std_frame_5: 0.4921, loss_rl: -0.2399, loss_critic: 1.4154, loss_rl_bc: 0.0115, il_score: 0.5896, rl_score: 0.6609, prev_frame_loss_waypoint_0: 0.2056, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.6273, grad_norm: 51.6147, il_score_sum: 61.1703, rl_score_sum: 62.5680, score_diff: -1.3976, il_win: 73.3333, rl_win: 116.5333
2025-09-24 07:23:41,016 - mmdet - INFO - Epoch [9][1560/3517]	lr: 3.751e-05, eta: 12:12:50, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.1971, debug_std_frame_0: 0.2410, debug_std_frame_1: 0.2724, debug_std_frame_2: 0.3295, debug_std_frame_3: 0.3808, debug_std_frame_4: 0.4346, debug_std_frame_5: 0.4902, loss_rl: -0.2352, loss_critic: 1.6849, loss_rl_bc: 0.0145, il_score: 0.5882, rl_score: 0.6052, prev_frame_loss_waypoint_0: 0.2213, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.9211, grad_norm: 48.5073, il_score_sum: 61.1703, rl_score_sum: 62.5680, score_diff: -1.3976, il_win: 73.3333, rl_win: 116.5333
2025-09-24 07:23:57,281 - mmdet - INFO - Epoch [9][1580/3517]	lr: 3.751e-05, eta: 12:12:34, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.2106, debug_std_frame_0: 0.2435, debug_std_frame_1: 0.2779, debug_std_frame_2: 0.3367, debug_std_frame_3: 0.3917, debug_std_frame_4: 0.4497, debug_std_frame_5: 0.5064, loss_rl: -0.2297, loss_critic: 1.6234, loss_rl_bc: 0.0161, il_score: 0.6146, rl_score: 0.6393, prev_frame_loss_waypoint_0: 0.2524, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.9176, grad_norm: 67.0989, il_score_sum: 60.9435, rl_score_sum: 62.5408, score_diff: -1.5973, il_win: 73.3750, rl_win: 116.8750
2025-09-24 07:24:13,240 - mmdet - INFO - Epoch [9][1600/3517]	lr: 3.751e-05, eta: 12:12:18, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0214, loss_waypoint: 0.2047, debug_std_frame_0: 0.2410, debug_std_frame_1: 0.2780, debug_std_frame_2: 0.3420, debug_std_frame_3: 0.3999, debug_std_frame_4: 0.4606, debug_std_frame_5: 0.5219, loss_rl: -0.1734, loss_critic: 1.1609, loss_rl_bc: 0.0177, il_score: 0.6183, rl_score: 0.6256, prev_frame_loss_waypoint_0: 0.2124, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.4651, grad_norm: 65.5593, il_score_sum: 60.9435, rl_score_sum: 62.5408, score_diff: -1.5973, il_win: 73.3750, rl_win: 116.8750
2025-09-24 07:24:29,185 - mmdet - INFO - Epoch [9][1620/3517]	lr: 3.751e-05, eta: 12:12:02, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.1960, debug_std_frame_0: 0.2554, debug_std_frame_1: 0.2938, debug_std_frame_2: 0.3551, debug_std_frame_3: 0.4114, debug_std_frame_4: 0.4722, debug_std_frame_5: 0.5279, loss_rl: -0.1663, loss_critic: 1.1619, loss_rl_bc: 0.0220, il_score: 0.6127, rl_score: 0.6175, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0311, loss: 1.4900, grad_norm: 53.6137, il_score_sum: 60.9435, rl_score_sum: 62.5408, score_diff: -1.5973, il_win: 73.3750, rl_win: 116.8750
2025-09-24 07:24:45,364 - mmdet - INFO - Epoch [9][1640/3517]	lr: 3.751e-05, eta: 12:11:46, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.2090, debug_std_frame_0: 0.2890, debug_std_frame_1: 0.3283, debug_std_frame_2: 0.3883, debug_std_frame_3: 0.4441, debug_std_frame_4: 0.5049, debug_std_frame_5: 0.5602, loss_rl: -0.1458, loss_critic: 1.1523, loss_rl_bc: 0.0327, il_score: 0.6427, rl_score: 0.6005, prev_frame_loss_waypoint_0: 0.2221, prev_frame_loss_rl_bc_0: 0.0285, loss: 1.5210, grad_norm: 60.5937, il_score_sum: 60.9435, rl_score_sum: 62.5408, score_diff: -1.5973, il_win: 73.3750, rl_win: 116.8750
2025-09-24 07:25:01,246 - mmdet - INFO - Epoch [9][1660/3517]	lr: 3.751e-05, eta: 12:11:29, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0204, loss_waypoint: 0.1826, debug_std_frame_0: 0.3139, debug_std_frame_1: 0.3448, debug_std_frame_2: 0.3954, debug_std_frame_3: 0.4410, debug_std_frame_4: 0.4964, debug_std_frame_5: 0.5517, loss_rl: -0.2586, loss_critic: 1.4801, loss_rl_bc: 0.0167, il_score: 0.6313, rl_score: 0.6349, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.6495, grad_norm: 49.5585, il_score_sum: 60.9435, rl_score_sum: 62.5408, score_diff: -1.5973, il_win: 73.3750, rl_win: 116.8750
2025-09-24 07:25:17,135 - mmdet - INFO - Epoch [9][1680/3517]	lr: 3.751e-05, eta: 12:11:13, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.2613, debug_std_frame_0: 0.3004, debug_std_frame_1: 0.3355, debug_std_frame_2: 0.3921, debug_std_frame_3: 0.4431, debug_std_frame_4: 0.5038, debug_std_frame_5: 0.5659, loss_rl: -0.2282, loss_critic: 1.2139, loss_rl_bc: 0.0193, il_score: 0.5718, rl_score: 0.6383, prev_frame_loss_waypoint_0: 0.2971, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.6098, grad_norm: 100.5523, il_score_sum: 60.9874, rl_score_sum: 62.5093, score_diff: -1.5219, il_win: 73.4118, rl_win: 117.1765
2025-09-24 07:25:32,990 - mmdet - INFO - Epoch [9][1700/3517]	lr: 3.751e-05, eta: 12:10:56, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.1981, debug_std_frame_0: 0.2858, debug_std_frame_1: 0.3111, debug_std_frame_2: 0.3580, debug_std_frame_3: 0.4026, debug_std_frame_4: 0.4543, debug_std_frame_5: 0.5115, loss_rl: -0.1948, loss_critic: 1.3709, loss_rl_bc: 0.0175, il_score: 0.5899, rl_score: 0.6116, prev_frame_loss_waypoint_0: 0.2197, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.6500, grad_norm: 65.8344, il_score_sum: 60.9874, rl_score_sum: 62.5093, score_diff: -1.5219, il_win: 73.4118, rl_win: 117.1765
2025-09-24 07:25:49,013 - mmdet - INFO - Epoch [9][1720/3517]	lr: 3.751e-05, eta: 12:10:40, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0208, loss_waypoint: 0.2288, debug_std_frame_0: 0.2710, debug_std_frame_1: 0.2992, debug_std_frame_2: 0.3496, debug_std_frame_3: 0.3985, debug_std_frame_4: 0.4547, debug_std_frame_5: 0.5144, loss_rl: -0.2400, loss_critic: 1.0666, loss_rl_bc: 0.0211, il_score: 0.6334, rl_score: 0.6421, prev_frame_loss_waypoint_0: 0.2102, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.3212, grad_norm: 59.8155, il_score_sum: 60.9874, rl_score_sum: 62.5093, score_diff: -1.5219, il_win: 73.4118, rl_win: 117.1765
2025-09-24 07:26:04,998 - mmdet - INFO - Epoch [9][1740/3517]	lr: 3.751e-05, eta: 12:10:24, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2153, debug_std_frame_0: 0.2617, debug_std_frame_1: 0.2919, debug_std_frame_2: 0.3440, debug_std_frame_3: 0.3946, debug_std_frame_4: 0.4484, debug_std_frame_5: 0.5042, loss_rl: -0.1970, loss_critic: 1.2434, loss_rl_bc: 0.0190, il_score: 0.6285, rl_score: 0.6439, prev_frame_loss_waypoint_0: 0.2342, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.5584, grad_norm: 65.4588, il_score_sum: 60.9874, rl_score_sum: 62.5093, score_diff: -1.5219, il_win: 73.4118, rl_win: 117.1765
2025-09-24 07:26:20,948 - mmdet - INFO - Epoch [9][1760/3517]	lr: 3.751e-05, eta: 12:10:08, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0214, loss_waypoint: 0.1791, debug_std_frame_0: 0.2659, debug_std_frame_1: 0.2940, debug_std_frame_2: 0.3425, debug_std_frame_3: 0.3897, debug_std_frame_4: 0.4433, debug_std_frame_5: 0.4987, loss_rl: -0.2408, loss_critic: 1.2418, loss_rl_bc: 0.0135, il_score: 0.6708, rl_score: 0.6620, prev_frame_loss_waypoint_0: 0.2001, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4262, grad_norm: 49.7621, il_score_sum: 60.9874, rl_score_sum: 62.5093, score_diff: -1.5219, il_win: 73.4118, rl_win: 117.1765
2025-09-24 07:26:36,879 - mmdet - INFO - Epoch [9][1780/3517]	lr: 3.751e-05, eta: 12:09:51, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.2181, debug_std_frame_0: 0.2621, debug_std_frame_1: 0.2938, debug_std_frame_2: 0.3491, debug_std_frame_3: 0.4056, debug_std_frame_4: 0.4656, debug_std_frame_5: 0.5256, loss_rl: -0.2062, loss_critic: 1.6398, loss_rl_bc: 0.0205, il_score: 0.5903, rl_score: 0.6170, prev_frame_loss_waypoint_0: 0.2438, prev_frame_loss_rl_bc_0: 0.0274, loss: 1.9667, grad_norm: 67.8890, il_score_sum: 61.0546, rl_score_sum: 62.5861, score_diff: -1.5315, il_win: 73.4444, rl_win: 117.5000
2025-09-24 07:26:52,919 - mmdet - INFO - Epoch [9][1800/3517]	lr: 3.751e-05, eta: 12:09:35, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2484, debug_std_frame_0: 0.2669, debug_std_frame_1: 0.2997, debug_std_frame_2: 0.3551, debug_std_frame_3: 0.4144, debug_std_frame_4: 0.4773, debug_std_frame_5: 0.5372, loss_rl: -0.1778, loss_critic: 1.2277, loss_rl_bc: 0.0203, il_score: 0.5476, rl_score: 0.6008, prev_frame_loss_waypoint_0: 0.2638, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.6280, grad_norm: 75.4916, il_score_sum: 61.0546, rl_score_sum: 62.5861, score_diff: -1.5315, il_win: 73.4444, rl_win: 117.5000
2025-09-24 07:27:08,891 - mmdet - INFO - Epoch [9][1820/3517]	lr: 3.751e-05, eta: 12:09:19, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2112, debug_std_frame_0: 0.2641, debug_std_frame_1: 0.2963, debug_std_frame_2: 0.3500, debug_std_frame_3: 0.4048, debug_std_frame_4: 0.4635, debug_std_frame_5: 0.5242, loss_rl: -0.2383, loss_critic: 1.5018, loss_rl_bc: 0.0131, il_score: 0.5765, rl_score: 0.6440, prev_frame_loss_waypoint_0: 0.2228, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.7478, grad_norm: 69.9441, il_score_sum: 61.0546, rl_score_sum: 62.5861, score_diff: -1.5315, il_win: 73.4444, rl_win: 117.5000
2025-09-24 07:27:24,726 - mmdet - INFO - Epoch [9][1840/3517]	lr: 3.751e-05, eta: 12:09:03, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2015, debug_std_frame_0: 0.2490, debug_std_frame_1: 0.2763, debug_std_frame_2: 0.3260, debug_std_frame_3: 0.3810, debug_std_frame_4: 0.4417, debug_std_frame_5: 0.4999, loss_rl: -0.2098, loss_critic: 1.3299, loss_rl_bc: 0.0154, il_score: 0.6572, rl_score: 0.6545, prev_frame_loss_waypoint_0: 0.2221, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.6012, grad_norm: 60.2550, il_score_sum: 61.0546, rl_score_sum: 62.5861, score_diff: -1.5315, il_win: 73.4444, rl_win: 117.5000
2025-09-24 07:27:40,629 - mmdet - INFO - Epoch [9][1860/3517]	lr: 3.751e-05, eta: 12:08:46, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.2208, debug_std_frame_0: 0.2369, debug_std_frame_1: 0.2650, debug_std_frame_2: 0.3175, debug_std_frame_3: 0.3738, debug_std_frame_4: 0.4349, debug_std_frame_5: 0.4976, loss_rl: -0.2288, loss_critic: 1.3848, loss_rl_bc: 0.0156, il_score: 0.6426, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.2268, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.6603, grad_norm: 63.5800, il_score_sum: 61.0546, rl_score_sum: 62.5861, score_diff: -1.5315, il_win: 73.4444, rl_win: 117.5000
2025-09-24 07:27:56,680 - mmdet - INFO - Epoch [9][1880/3517]	lr: 3.751e-05, eta: 12:08:30, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.1939, debug_std_frame_0: 0.2360, debug_std_frame_1: 0.2664, debug_std_frame_2: 0.3224, debug_std_frame_3: 0.3866, debug_std_frame_4: 0.4556, debug_std_frame_5: 0.5196, loss_rl: -0.1576, loss_critic: 1.1975, loss_rl_bc: 0.0184, il_score: 0.6198, rl_score: 0.5840, prev_frame_loss_waypoint_0: 0.2029, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.4920, grad_norm: 40.5658, il_score_sum: 61.0243, rl_score_sum: 62.6407, score_diff: -1.6164, il_win: 73.4737, rl_win: 117.8421
2025-09-24 07:28:12,512 - mmdet - INFO - Epoch [9][1900/3517]	lr: 3.751e-05, eta: 12:08:14, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2056, debug_std_frame_0: 0.2605, debug_std_frame_1: 0.2912, debug_std_frame_2: 0.3398, debug_std_frame_3: 0.3982, debug_std_frame_4: 0.4610, debug_std_frame_5: 0.5192, loss_rl: -0.1883, loss_critic: 1.4967, loss_rl_bc: 0.0230, il_score: 0.5990, rl_score: 0.6140, prev_frame_loss_waypoint_0: 0.2276, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.8112, grad_norm: 54.5195, il_score_sum: 61.0243, rl_score_sum: 62.6407, score_diff: -1.6164, il_win: 73.4737, rl_win: 117.8421
2025-09-24 07:28:28,423 - mmdet - INFO - Epoch [9][1920/3517]	lr: 3.751e-05, eta: 12:07:57, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.1838, debug_std_frame_0: 0.2635, debug_std_frame_1: 0.2927, debug_std_frame_2: 0.3407, debug_std_frame_3: 0.3970, debug_std_frame_4: 0.4559, debug_std_frame_5: 0.5142, loss_rl: -0.2938, loss_critic: 1.4132, loss_rl_bc: 0.0120, il_score: 0.6634, rl_score: 0.6946, prev_frame_loss_waypoint_0: 0.2097, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.5634, grad_norm: 44.7435, il_score_sum: 61.0243, rl_score_sum: 62.6407, score_diff: -1.6164, il_win: 73.4737, rl_win: 117.8421
2025-09-24 07:28:44,259 - mmdet - INFO - Epoch [9][1940/3517]	lr: 3.751e-05, eta: 12:07:41, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0229, loss_waypoint: 0.1978, debug_std_frame_0: 0.2526, debug_std_frame_1: 0.2822, debug_std_frame_2: 0.3313, debug_std_frame_3: 0.3875, debug_std_frame_4: 0.4481, debug_std_frame_5: 0.5061, loss_rl: -0.2056, loss_critic: 1.3696, loss_rl_bc: 0.0134, il_score: 0.6117, rl_score: 0.6140, prev_frame_loss_waypoint_0: 0.2253, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.6450, grad_norm: 66.5406, il_score_sum: 61.0243, rl_score_sum: 62.6407, score_diff: -1.6164, il_win: 73.4737, rl_win: 117.8421
2025-09-24 07:29:00,199 - mmdet - INFO - Epoch [9][1960/3517]	lr: 3.751e-05, eta: 12:07:24, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2018, debug_std_frame_0: 0.2442, debug_std_frame_1: 0.2794, debug_std_frame_2: 0.3315, debug_std_frame_3: 0.3894, debug_std_frame_4: 0.4567, debug_std_frame_5: 0.5176, loss_rl: -0.1799, loss_critic: 1.2097, loss_rl_bc: 0.0148, il_score: 0.6407, rl_score: 0.6490, prev_frame_loss_waypoint_0: 0.2197, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.5104, grad_norm: 42.2960, il_score_sum: 61.0243, rl_score_sum: 62.6407, score_diff: -1.6164, il_win: 73.4737, rl_win: 117.8421
2025-09-24 07:29:16,255 - mmdet - INFO - Epoch [9][1980/3517]	lr: 3.751e-05, eta: 12:07:08, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1848, debug_std_frame_0: 0.2346, debug_std_frame_1: 0.2687, debug_std_frame_2: 0.3201, debug_std_frame_3: 0.3748, debug_std_frame_4: 0.4391, debug_std_frame_5: 0.4970, loss_rl: -0.2058, loss_critic: 1.4889, loss_rl_bc: 0.0159, il_score: 0.6000, rl_score: 0.6168, prev_frame_loss_waypoint_0: 0.2220, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.7509, grad_norm: 56.3706, il_score_sum: 61.1023, rl_score_sum: 62.6626, score_diff: -1.5603, il_win: 73.5000, rl_win: 118.1500
2025-09-24 07:29:32,063 - mmdet - INFO - Epoch [9][2000/3517]	lr: 3.751e-05, eta: 12:06:52, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0201, loss_waypoint: 0.2203, debug_std_frame_0: 0.2455, debug_std_frame_1: 0.2822, debug_std_frame_2: 0.3363, debug_std_frame_3: 0.3894, debug_std_frame_4: 0.4500, debug_std_frame_5: 0.5049, loss_rl: -0.2198, loss_critic: 1.1808, loss_rl_bc: 0.0180, il_score: 0.6207, rl_score: 0.6346, prev_frame_loss_waypoint_0: 0.2434, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.4854, grad_norm: 62.5824, il_score_sum: 61.1023, rl_score_sum: 62.6626, score_diff: -1.5603, il_win: 73.5000, rl_win: 118.1500
2025-09-24 07:29:47,844 - mmdet - INFO - Epoch [9][2020/3517]	lr: 3.751e-05, eta: 12:06:35, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2576, debug_std_frame_0: 0.2464, debug_std_frame_1: 0.2888, debug_std_frame_2: 0.3475, debug_std_frame_3: 0.4067, debug_std_frame_4: 0.4750, debug_std_frame_5: 0.5373, loss_rl: -0.2365, loss_critic: 1.5169, loss_rl_bc: 0.0207, il_score: 0.5671, rl_score: 0.6278, prev_frame_loss_waypoint_0: 0.2614, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.8564, grad_norm: 86.5031, il_score_sum: 61.1023, rl_score_sum: 62.6626, score_diff: -1.5603, il_win: 73.5000, rl_win: 118.1500
2025-09-24 07:30:04,128 - mmdet - INFO - Epoch [9][2040/3517]	lr: 3.751e-05, eta: 12:06:19, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2724, debug_std_frame_0: 0.2462, debug_std_frame_1: 0.2822, debug_std_frame_2: 0.3398, debug_std_frame_3: 0.3992, debug_std_frame_4: 0.4654, debug_std_frame_5: 0.5267, loss_rl: -0.2234, loss_critic: 1.2608, loss_rl_bc: 0.0176, il_score: 0.5751, rl_score: 0.6541, prev_frame_loss_waypoint_0: 0.2901, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.6610, grad_norm: 86.2556, il_score_sum: 61.1023, rl_score_sum: 62.6626, score_diff: -1.5603, il_win: 73.5000, rl_win: 118.1500
2025-09-24 07:30:20,415 - mmdet - INFO - Epoch [9][2060/3517]	lr: 3.751e-05, eta: 12:06:04, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.1882, debug_std_frame_0: 0.2494, debug_std_frame_1: 0.2840, debug_std_frame_2: 0.3412, debug_std_frame_3: 0.4004, debug_std_frame_4: 0.4687, debug_std_frame_5: 0.5320, loss_rl: -0.2357, loss_critic: 1.4988, loss_rl_bc: 0.0127, il_score: 0.6253, rl_score: 0.6438, prev_frame_loss_waypoint_0: 0.2085, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.7106, grad_norm: 60.3912, il_score_sum: 61.1023, rl_score_sum: 62.6626, score_diff: -1.5603, il_win: 73.5000, rl_win: 118.1500
2025-09-24 07:30:36,659 - mmdet - INFO - Epoch [9][2080/3517]	lr: 3.751e-05, eta: 12:05:48, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2125, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2787, debug_std_frame_2: 0.3305, debug_std_frame_3: 0.3824, debug_std_frame_4: 0.4430, debug_std_frame_5: 0.4991, loss_rl: -0.2133, loss_critic: 1.6619, loss_rl_bc: 0.0187, il_score: 0.5799, rl_score: 0.6040, prev_frame_loss_waypoint_0: 0.2224, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.9433, grad_norm: 60.8140, il_score_sum: 61.0591, rl_score_sum: 62.6630, score_diff: -1.6040, il_win: 73.5500, rl_win: 118.8500
2025-09-24 07:30:52,549 - mmdet - INFO - Epoch [9][2100/3517]	lr: 3.751e-05, eta: 12:05:32, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1884, debug_std_frame_0: 0.2357, debug_std_frame_1: 0.2728, debug_std_frame_2: 0.3240, debug_std_frame_3: 0.3774, debug_std_frame_4: 0.4408, debug_std_frame_5: 0.5026, loss_rl: -0.2152, loss_critic: 1.1668, loss_rl_bc: 0.0117, il_score: 0.6349, rl_score: 0.6470, prev_frame_loss_waypoint_0: 0.2213, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.4123, grad_norm: 51.3068, il_score_sum: 61.0591, rl_score_sum: 62.6630, score_diff: -1.6040, il_win: 73.5500, rl_win: 118.8500
2025-09-24 07:31:08,576 - mmdet - INFO - Epoch [9][2120/3517]	lr: 3.751e-05, eta: 12:05:15, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2238, debug_std_frame_0: 0.2424, debug_std_frame_1: 0.2783, debug_std_frame_2: 0.3268, debug_std_frame_3: 0.3758, debug_std_frame_4: 0.4317, debug_std_frame_5: 0.4848, loss_rl: -0.1670, loss_critic: 1.4257, loss_rl_bc: 0.0695, il_score: 0.5954, rl_score: 0.6160, prev_frame_loss_waypoint_0: 0.2651, prev_frame_loss_rl_bc_0: 0.0768, loss: 1.9157, grad_norm: 57.8681, il_score_sum: 61.0591, rl_score_sum: 62.6630, score_diff: -1.6040, il_win: 73.5500, rl_win: 118.8500
2025-09-24 07:31:24,659 - mmdet - INFO - Epoch [9][2140/3517]	lr: 3.751e-05, eta: 12:04:59, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.1893, debug_std_frame_0: 0.2496, debug_std_frame_1: 0.2902, debug_std_frame_2: 0.3385, debug_std_frame_3: 0.3889, debug_std_frame_4: 0.4470, debug_std_frame_5: 0.5013, loss_rl: -0.1918, loss_critic: 1.0914, loss_rl_bc: 0.0114, il_score: 0.6536, rl_score: 0.6597, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.3440, grad_norm: 35.3894, il_score_sum: 61.0591, rl_score_sum: 62.6630, score_diff: -1.6040, il_win: 73.5500, rl_win: 118.8500
2025-09-24 07:31:40,534 - mmdet - INFO - Epoch [9][2160/3517]	lr: 3.751e-05, eta: 12:04:43, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.1981, debug_std_frame_0: 0.2578, debug_std_frame_1: 0.2957, debug_std_frame_2: 0.3456, debug_std_frame_3: 0.3990, debug_std_frame_4: 0.4601, debug_std_frame_5: 0.5156, loss_rl: -0.2211, loss_critic: 1.2489, loss_rl_bc: 0.0147, il_score: 0.6239, rl_score: 0.6235, prev_frame_loss_waypoint_0: 0.2367, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.5190, grad_norm: 52.8886, il_score_sum: 61.0591, rl_score_sum: 62.6630, score_diff: -1.6040, il_win: 73.5500, rl_win: 118.8500
2025-09-24 07:31:56,584 - mmdet - INFO - Epoch [9][2180/3517]	lr: 3.751e-05, eta: 12:04:27, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2019, debug_std_frame_0: 0.2491, debug_std_frame_1: 0.2905, debug_std_frame_2: 0.3518, debug_std_frame_3: 0.4150, debug_std_frame_4: 0.4864, debug_std_frame_5: 0.5470, loss_rl: -0.2252, loss_critic: 1.1253, loss_rl_bc: 0.0158, il_score: 0.6259, rl_score: 0.6410, prev_frame_loss_waypoint_0: 0.2284, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.3850, grad_norm: 49.2989, il_score_sum: 61.0826, rl_score_sum: 62.6349, score_diff: -1.5522, il_win: 73.6000, rl_win: 119.5000
2025-09-24 07:32:12,487 - mmdet - INFO - Epoch [9][2200/3517]	lr: 3.751e-05, eta: 12:04:10, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0224, loss_waypoint: 0.2401, debug_std_frame_0: 0.2448, debug_std_frame_1: 0.2807, debug_std_frame_2: 0.3389, debug_std_frame_3: 0.4011, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5383, loss_rl: -0.2013, loss_critic: 1.3589, loss_rl_bc: 0.0191, il_score: 0.5826, rl_score: 0.6085, prev_frame_loss_waypoint_0: 0.2360, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.6930, grad_norm: 63.9329, il_score_sum: 61.0826, rl_score_sum: 62.6349, score_diff: -1.5522, il_win: 73.6000, rl_win: 119.5000
2025-09-24 07:32:28,332 - mmdet - INFO - Epoch [9][2220/3517]	lr: 3.751e-05, eta: 12:03:54, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.2130, debug_std_frame_0: 0.2575, debug_std_frame_1: 0.2870, debug_std_frame_2: 0.3391, debug_std_frame_3: 0.3925, debug_std_frame_4: 0.4559, debug_std_frame_5: 0.5156, loss_rl: -0.1602, loss_critic: 1.4752, loss_rl_bc: 0.0308, il_score: 0.5874, rl_score: 0.5982, prev_frame_loss_waypoint_0: 0.2322, prev_frame_loss_rl_bc_0: 0.0365, loss: 1.8493, grad_norm: 76.2429, il_score_sum: 61.0826, rl_score_sum: 62.6349, score_diff: -1.5522, il_win: 73.6000, rl_win: 119.5000
2025-09-24 07:32:44,259 - mmdet - INFO - Epoch [9][2240/3517]	lr: 3.751e-05, eta: 12:03:38, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1878, debug_std_frame_0: 0.2879, debug_std_frame_1: 0.3212, debug_std_frame_2: 0.3702, debug_std_frame_3: 0.4185, debug_std_frame_4: 0.4758, debug_std_frame_5: 0.5291, loss_rl: -0.2150, loss_critic: 1.5651, loss_rl_bc: 0.0235, il_score: 0.6247, rl_score: 0.6144, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.8028, grad_norm: 44.0086, il_score_sum: 61.0826, rl_score_sum: 62.6349, score_diff: -1.5522, il_win: 73.6000, rl_win: 119.5000
2025-09-24 07:32:59,990 - mmdet - INFO - Epoch [9][2260/3517]	lr: 3.751e-05, eta: 12:03:21, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2230, debug_std_frame_0: 0.3029, debug_std_frame_1: 0.3388, debug_std_frame_2: 0.3858, debug_std_frame_3: 0.4330, debug_std_frame_4: 0.4879, debug_std_frame_5: 0.5393, loss_rl: -0.2032, loss_critic: 1.3187, loss_rl_bc: 0.0227, il_score: 0.5727, rl_score: 0.5714, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.6325, grad_norm: 62.2822, il_score_sum: 61.0826, rl_score_sum: 62.6349, score_diff: -1.5522, il_win: 73.6000, rl_win: 119.5000
2025-09-24 07:33:15,908 - mmdet - INFO - Epoch [9][2280/3517]	lr: 3.751e-05, eta: 12:03:05, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.2447, debug_std_frame_0: 0.2716, debug_std_frame_1: 0.3068, debug_std_frame_2: 0.3587, debug_std_frame_3: 0.4149, debug_std_frame_4: 0.4770, debug_std_frame_5: 0.5380, loss_rl: -0.1707, loss_critic: 1.3177, loss_rl_bc: 0.0270, il_score: 0.5705, rl_score: 0.6093, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.7160, grad_norm: 75.5796, il_score_sum: 61.0465, rl_score_sum: 62.5851, score_diff: -1.5386, il_win: 73.6500, rl_win: 120.1500
2025-09-24 07:33:31,866 - mmdet - INFO - Epoch [9][2300/3517]	lr: 3.751e-05, eta: 12:02:48, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0197, loss_waypoint: 0.2163, debug_std_frame_0: 0.2688, debug_std_frame_1: 0.3001, debug_std_frame_2: 0.3511, debug_std_frame_3: 0.4070, debug_std_frame_4: 0.4645, debug_std_frame_5: 0.5261, loss_rl: -0.1578, loss_critic: 0.9564, loss_rl_bc: 0.0199, il_score: 0.6353, rl_score: 0.6209, prev_frame_loss_waypoint_0: 0.2294, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.3037, grad_norm: 59.8870, il_score_sum: 61.0465, rl_score_sum: 62.5851, score_diff: -1.5386, il_win: 73.6500, rl_win: 120.1500
2025-09-24 07:33:47,746 - mmdet - INFO - Epoch [9][2320/3517]	lr: 3.751e-05, eta: 12:02:32, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.2026, debug_std_frame_0: 0.2638, debug_std_frame_1: 0.2945, debug_std_frame_2: 0.3442, debug_std_frame_3: 0.3990, debug_std_frame_4: 0.4523, debug_std_frame_5: 0.5110, loss_rl: -0.2281, loss_critic: 1.3537, loss_rl_bc: 0.0149, il_score: 0.6063, rl_score: 0.6321, prev_frame_loss_waypoint_0: 0.2288, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.6120, grad_norm: 56.1579, il_score_sum: 61.0465, rl_score_sum: 62.5851, score_diff: -1.5386, il_win: 73.6500, rl_win: 120.1500
2025-09-24 07:34:03,585 - mmdet - INFO - Epoch [9][2340/3517]	lr: 3.751e-05, eta: 12:02:16, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2161, debug_std_frame_0: 0.2495, debug_std_frame_1: 0.2823, debug_std_frame_2: 0.3347, debug_std_frame_3: 0.3938, debug_std_frame_4: 0.4570, debug_std_frame_5: 0.5179, loss_rl: -0.2170, loss_critic: 1.4134, loss_rl_bc: 0.0127, il_score: 0.6004, rl_score: 0.6370, prev_frame_loss_waypoint_0: 0.2147, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6729, grad_norm: 60.1438, il_score_sum: 61.0465, rl_score_sum: 62.5851, score_diff: -1.5386, il_win: 73.6500, rl_win: 120.1500
2025-09-24 07:34:19,365 - mmdet - INFO - Epoch [9][2360/3517]	lr: 3.751e-05, eta: 12:01:59, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2054, debug_std_frame_0: 0.2497, debug_std_frame_1: 0.2803, debug_std_frame_2: 0.3337, debug_std_frame_3: 0.3948, debug_std_frame_4: 0.4606, debug_std_frame_5: 0.5255, loss_rl: -0.2064, loss_critic: 1.3248, loss_rl_bc: 0.0194, il_score: 0.6341, rl_score: 0.6266, prev_frame_loss_waypoint_0: 0.2252, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.6190, grad_norm: 48.3285, il_score_sum: 61.0465, rl_score_sum: 62.5851, score_diff: -1.5386, il_win: 73.6500, rl_win: 120.1500
2025-09-24 07:34:35,449 - mmdet - INFO - Epoch [9][2380/3517]	lr: 3.751e-05, eta: 12:01:43, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.2113, debug_std_frame_0: 0.2545, debug_std_frame_1: 0.2874, debug_std_frame_2: 0.3432, debug_std_frame_3: 0.4059, debug_std_frame_4: 0.4672, debug_std_frame_5: 0.5277, loss_rl: -0.2217, loss_critic: 1.5745, loss_rl_bc: 0.0173, il_score: 0.5965, rl_score: 0.6269, prev_frame_loss_waypoint_0: 0.2235, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.8525, grad_norm: 61.3737, il_score_sum: 60.9995, rl_score_sum: 62.5174, score_diff: -1.5180, il_win: 73.7000, rl_win: 120.8000
2025-09-24 07:34:51,315 - mmdet - INFO - Epoch [9][2400/3517]	lr: 3.751e-05, eta: 12:01:26, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2350, debug_std_frame_0: 0.2769, debug_std_frame_1: 0.3092, debug_std_frame_2: 0.3656, debug_std_frame_3: 0.4244, debug_std_frame_4: 0.4844, debug_std_frame_5: 0.5420, loss_rl: -0.1954, loss_critic: 1.5720, loss_rl_bc: 0.0295, il_score: 0.5791, rl_score: 0.5956, prev_frame_loss_waypoint_0: 0.2544, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.9463, grad_norm: 87.8517, il_score_sum: 60.9995, rl_score_sum: 62.5174, score_diff: -1.5180, il_win: 73.7000, rl_win: 120.8000
2025-09-24 07:35:07,082 - mmdet - INFO - Epoch [9][2420/3517]	lr: 3.751e-05, eta: 12:01:10, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.2126, debug_std_frame_0: 0.2767, debug_std_frame_1: 0.3114, debug_std_frame_2: 0.3716, debug_std_frame_3: 0.4313, debug_std_frame_4: 0.4921, debug_std_frame_5: 0.5470, loss_rl: -0.2206, loss_critic: 1.3247, loss_rl_bc: 0.0230, il_score: 0.6288, rl_score: 0.6196, prev_frame_loss_waypoint_0: 0.2480, prev_frame_loss_rl_bc_0: 0.0297, loss: 1.6409, grad_norm: 54.7114, il_score_sum: 60.9995, rl_score_sum: 62.5174, score_diff: -1.5180, il_win: 73.7000, rl_win: 120.8000
2025-09-24 07:35:22,791 - mmdet - INFO - Epoch [9][2440/3517]	lr: 3.751e-05, eta: 12:00:53, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2011, debug_std_frame_0: 0.2907, debug_std_frame_1: 0.3233, debug_std_frame_2: 0.3765, debug_std_frame_3: 0.4315, debug_std_frame_4: 0.4874, debug_std_frame_5: 0.5380, loss_rl: -0.1741, loss_critic: 1.3071, loss_rl_bc: 0.0279, il_score: 0.6359, rl_score: 0.5852, prev_frame_loss_waypoint_0: 0.2338, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.6472, grad_norm: 63.8989, il_score_sum: 60.9995, rl_score_sum: 62.5174, score_diff: -1.5180, il_win: 73.7000, rl_win: 120.8000
2025-09-24 07:35:38,654 - mmdet - INFO - Epoch [9][2460/3517]	lr: 3.751e-05, eta: 12:00:37, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.1911, debug_std_frame_0: 0.2982, debug_std_frame_1: 0.3304, debug_std_frame_2: 0.3828, debug_std_frame_3: 0.4386, debug_std_frame_4: 0.4972, debug_std_frame_5: 0.5515, loss_rl: -0.2167, loss_critic: 1.3706, loss_rl_bc: 0.0198, il_score: 0.6411, rl_score: 0.6183, prev_frame_loss_waypoint_0: 0.1975, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.6018, grad_norm: 52.2493, il_score_sum: 60.9995, rl_score_sum: 62.5174, score_diff: -1.5180, il_win: 73.7000, rl_win: 120.8000
2025-09-24 07:35:54,840 - mmdet - INFO - Epoch [9][2480/3517]	lr: 3.751e-05, eta: 12:00:21, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2175, debug_std_frame_0: 0.2836, debug_std_frame_1: 0.3156, debug_std_frame_2: 0.3671, debug_std_frame_3: 0.4228, debug_std_frame_4: 0.4783, debug_std_frame_5: 0.5322, loss_rl: -0.2367, loss_critic: 1.3344, loss_rl_bc: 0.0199, il_score: 0.6081, rl_score: 0.6353, prev_frame_loss_waypoint_0: 0.2258, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.6019, grad_norm: 50.0263, il_score_sum: 60.9939, rl_score_sum: 62.4422, score_diff: -1.4483, il_win: 73.7500, rl_win: 121.4000
2025-09-24 07:36:10,579 - mmdet - INFO - Epoch [9][2500/3517]	lr: 3.751e-05, eta: 12:00:04, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.2084, debug_std_frame_0: 0.2859, debug_std_frame_1: 0.3165, debug_std_frame_2: 0.3673, debug_std_frame_3: 0.4231, debug_std_frame_4: 0.4773, debug_std_frame_5: 0.5291, loss_rl: -0.1622, loss_critic: 1.4443, loss_rl_bc: 0.0372, il_score: 0.5818, rl_score: 0.5394, prev_frame_loss_waypoint_0: 0.2218, prev_frame_loss_rl_bc_0: 0.0373, loss: 1.8085, grad_norm: 65.9582, il_score_sum: 60.9939, rl_score_sum: 62.4422, score_diff: -1.4483, il_win: 73.7500, rl_win: 121.4000
2025-09-24 07:36:26,360 - mmdet - INFO - Epoch [9][2520/3517]	lr: 3.751e-05, eta: 11:59:48, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1991, debug_std_frame_0: 0.3045, debug_std_frame_1: 0.3350, debug_std_frame_2: 0.3818, debug_std_frame_3: 0.4330, debug_std_frame_4: 0.4858, debug_std_frame_5: 0.5344, loss_rl: -0.2078, loss_critic: 1.2970, loss_rl_bc: 0.0202, il_score: 0.6406, rl_score: 0.6219, prev_frame_loss_waypoint_0: 0.2171, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.5702, grad_norm: 56.5549, il_score_sum: 60.9939, rl_score_sum: 62.4422, score_diff: -1.4483, il_win: 73.7500, rl_win: 121.4000
2025-09-24 07:36:42,378 - mmdet - INFO - Epoch [9][2540/3517]	lr: 3.751e-05, eta: 11:59:31, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0224, loss_waypoint: 0.2049, debug_std_frame_0: 0.3025, debug_std_frame_1: 0.3352, debug_std_frame_2: 0.3824, debug_std_frame_3: 0.4361, debug_std_frame_4: 0.4881, debug_std_frame_5: 0.5366, loss_rl: -0.2117, loss_critic: 1.1857, loss_rl_bc: 0.0163, il_score: 0.5840, rl_score: 0.6080, prev_frame_loss_waypoint_0: 0.2260, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.4571, grad_norm: 56.7196, il_score_sum: 60.9939, rl_score_sum: 62.4422, score_diff: -1.4483, il_win: 73.7500, rl_win: 121.4000
2025-09-24 07:36:58,264 - mmdet - INFO - Epoch [9][2560/3517]	lr: 3.751e-05, eta: 11:59:15, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.2019, debug_std_frame_0: 0.2817, debug_std_frame_1: 0.3098, debug_std_frame_2: 0.3549, debug_std_frame_3: 0.4079, debug_std_frame_4: 0.4594, debug_std_frame_5: 0.5070, loss_rl: -0.2138, loss_critic: 0.9631, loss_rl_bc: 0.0176, il_score: 0.6460, rl_score: 0.6428, prev_frame_loss_waypoint_0: 0.2074, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.2180, grad_norm: 44.3456, il_score_sum: 60.9939, rl_score_sum: 62.4422, score_diff: -1.4483, il_win: 73.7500, rl_win: 121.4000
2025-09-24 07:37:14,401 - mmdet - INFO - Epoch [9][2580/3517]	lr: 3.751e-05, eta: 11:58:59, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0229, loss_waypoint: 0.1852, debug_std_frame_0: 0.2796, debug_std_frame_1: 0.3103, debug_std_frame_2: 0.3562, debug_std_frame_3: 0.4099, debug_std_frame_4: 0.4614, debug_std_frame_5: 0.5110, loss_rl: -0.2112, loss_critic: 1.2552, loss_rl_bc: 0.0164, il_score: 0.6493, rl_score: 0.6504, prev_frame_loss_waypoint_0: 0.2144, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.5021, grad_norm: 53.1995, il_score_sum: 61.1529, rl_score_sum: 62.3960, score_diff: -1.2431, il_win: 73.8000, rl_win: 121.9500
2025-09-24 07:37:30,251 - mmdet - INFO - Epoch [9][2600/3517]	lr: 3.751e-05, eta: 11:58:43, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.2285, debug_std_frame_0: 0.2820, debug_std_frame_1: 0.3124, debug_std_frame_2: 0.3630, debug_std_frame_3: 0.4176, debug_std_frame_4: 0.4724, debug_std_frame_5: 0.5238, loss_rl: -0.2575, loss_critic: 1.5816, loss_rl_bc: 0.0229, il_score: 0.6200, rl_score: 0.6401, prev_frame_loss_waypoint_0: 0.2223, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.8390, grad_norm: 74.7950, il_score_sum: 61.1529, rl_score_sum: 62.3960, score_diff: -1.2431, il_win: 73.8000, rl_win: 121.9500
2025-09-24 07:37:46,231 - mmdet - INFO - Epoch [9][2620/3517]	lr: 3.751e-05, eta: 11:58:26, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.2200, debug_std_frame_0: 0.2761, debug_std_frame_1: 0.3092, debug_std_frame_2: 0.3611, debug_std_frame_3: 0.4158, debug_std_frame_4: 0.4729, debug_std_frame_5: 0.5275, loss_rl: -0.2467, loss_critic: 1.2647, loss_rl_bc: 0.0185, il_score: 0.6053, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.2318, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.5293, grad_norm: 66.3743, il_score_sum: 61.1529, rl_score_sum: 62.3960, score_diff: -1.2431, il_win: 73.8000, rl_win: 121.9500
2025-09-24 07:38:02,096 - mmdet - INFO - Epoch [9][2640/3517]	lr: 3.751e-05, eta: 11:58:10, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2012, debug_std_frame_0: 0.2652, debug_std_frame_1: 0.2948, debug_std_frame_2: 0.3437, debug_std_frame_3: 0.3983, debug_std_frame_4: 0.4530, debug_std_frame_5: 0.5086, loss_rl: -0.2683, loss_critic: 1.2201, loss_rl_bc: 0.0092, il_score: 0.6377, rl_score: 0.6871, prev_frame_loss_waypoint_0: 0.2203, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.4173, grad_norm: 64.1913, il_score_sum: 61.1529, rl_score_sum: 62.3960, score_diff: -1.2431, il_win: 73.8000, rl_win: 121.9500
2025-09-24 07:38:17,962 - mmdet - INFO - Epoch [9][2660/3517]	lr: 3.751e-05, eta: 11:57:54, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0224, loss_waypoint: 0.2098, debug_std_frame_0: 0.2494, debug_std_frame_1: 0.2775, debug_std_frame_2: 0.3302, debug_std_frame_3: 0.3868, debug_std_frame_4: 0.4456, debug_std_frame_5: 0.5037, loss_rl: -0.2070, loss_critic: 1.4350, loss_rl_bc: 0.0189, il_score: 0.6295, rl_score: 0.6417, prev_frame_loss_waypoint_0: 0.2149, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.7113, grad_norm: 59.0023, il_score_sum: 61.1529, rl_score_sum: 62.3960, score_diff: -1.2431, il_win: 73.8000, rl_win: 121.9500
2025-09-24 07:38:33,782 - mmdet - INFO - Epoch [9][2680/3517]	lr: 3.751e-05, eta: 11:57:37, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.2080, debug_std_frame_0: 0.2656, debug_std_frame_1: 0.2948, debug_std_frame_2: 0.3456, debug_std_frame_3: 0.4028, debug_std_frame_4: 0.4621, debug_std_frame_5: 0.5184, loss_rl: -0.1587, loss_critic: 1.5115, loss_rl_bc: 0.0267, il_score: 0.5717, rl_score: 0.5526, prev_frame_loss_waypoint_0: 0.2286, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.8668, grad_norm: 75.5622, il_score_sum: 61.1994, rl_score_sum: 62.4584, score_diff: -1.2590, il_win: 73.8500, rl_win: 122.5000
2025-09-24 07:38:49,650 - mmdet - INFO - Epoch [9][2700/3517]	lr: 3.751e-05, eta: 11:57:21, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2202, debug_std_frame_0: 0.3163, debug_std_frame_1: 0.3474, debug_std_frame_2: 0.3967, debug_std_frame_3: 0.4506, debug_std_frame_4: 0.5047, debug_std_frame_5: 0.5571, loss_rl: -0.1599, loss_critic: 1.5389, loss_rl_bc: 0.0340, il_score: 0.5935, rl_score: 0.5448, prev_frame_loss_waypoint_0: 0.2353, prev_frame_loss_rl_bc_0: 0.0356, loss: 1.9264, grad_norm: 75.8879, il_score_sum: 61.1994, rl_score_sum: 62.4584, score_diff: -1.2590, il_win: 73.8500, rl_win: 122.5000
2025-09-24 07:39:05,643 - mmdet - INFO - Epoch [9][2720/3517]	lr: 3.751e-05, eta: 11:57:04, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.2341, debug_std_frame_0: 0.3091, debug_std_frame_1: 0.3436, debug_std_frame_2: 0.3948, debug_std_frame_3: 0.4517, debug_std_frame_4: 0.5090, debug_std_frame_5: 0.5641, loss_rl: -0.1909, loss_critic: 1.1779, loss_rl_bc: 0.0234, il_score: 0.6286, rl_score: 0.6195, prev_frame_loss_waypoint_0: 0.2393, prev_frame_loss_rl_bc_0: 0.0233, loss: 1.5277, grad_norm: 54.7008, il_score_sum: 61.1994, rl_score_sum: 62.4584, score_diff: -1.2590, il_win: 73.8500, rl_win: 122.5000
2025-09-24 07:39:21,443 - mmdet - INFO - Epoch [9][2740/3517]	lr: 3.751e-05, eta: 11:56:48, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.2113, debug_std_frame_0: 0.3065, debug_std_frame_1: 0.3394, debug_std_frame_2: 0.3859, debug_std_frame_3: 0.4405, debug_std_frame_4: 0.4962, debug_std_frame_5: 0.5503, loss_rl: -0.2301, loss_critic: 1.3127, loss_rl_bc: 0.0157, il_score: 0.6277, rl_score: 0.6446, prev_frame_loss_waypoint_0: 0.2441, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.5939, grad_norm: 67.0032, il_score_sum: 61.1994, rl_score_sum: 62.4584, score_diff: -1.2590, il_win: 73.8500, rl_win: 122.5000
2025-09-24 07:39:37,364 - mmdet - INFO - Epoch [9][2760/3517]	lr: 3.751e-05, eta: 11:56:32, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2273, debug_std_frame_0: 0.2732, debug_std_frame_1: 0.3022, debug_std_frame_2: 0.3454, debug_std_frame_3: 0.3927, debug_std_frame_4: 0.4388, debug_std_frame_5: 0.4865, loss_rl: -0.2540, loss_critic: 1.4329, loss_rl_bc: 0.0160, il_score: 0.6015, rl_score: 0.6594, prev_frame_loss_waypoint_0: 0.2719, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.7377, grad_norm: 78.6132, il_score_sum: 61.1994, rl_score_sum: 62.4584, score_diff: -1.2590, il_win: 73.8500, rl_win: 122.5000
2025-09-24 07:39:53,343 - mmdet - INFO - Epoch [9][2780/3517]	lr: 3.751e-05, eta: 11:56:15, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.1804, debug_std_frame_0: 0.2608, debug_std_frame_1: 0.2991, debug_std_frame_2: 0.3526, debug_std_frame_3: 0.4128, debug_std_frame_4: 0.4733, debug_std_frame_5: 0.5313, loss_rl: -0.2364, loss_critic: 1.4230, loss_rl_bc: 0.0122, il_score: 0.6273, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.2054, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.6219, grad_norm: 50.8798, il_score_sum: 61.1239, rl_score_sum: 62.3376, score_diff: -1.2137, il_win: 73.9000, rl_win: 123.0000
2025-09-24 07:40:09,265 - mmdet - INFO - Epoch [9][2800/3517]	lr: 3.751e-05, eta: 11:55:59, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.2226, debug_std_frame_0: 0.2468, debug_std_frame_1: 0.2802, debug_std_frame_2: 0.3315, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4465, debug_std_frame_5: 0.5070, loss_rl: -0.2283, loss_critic: 1.3078, loss_rl_bc: 0.0194, il_score: 0.6456, rl_score: 0.6579, prev_frame_loss_waypoint_0: 0.2236, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.5849, grad_norm: 58.9388, il_score_sum: 61.1239, rl_score_sum: 62.3376, score_diff: -1.2137, il_win: 73.9000, rl_win: 123.0000
2025-09-24 07:40:25,139 - mmdet - INFO - Epoch [9][2820/3517]	lr: 3.751e-05, eta: 11:55:43, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.2086, debug_std_frame_0: 0.2389, debug_std_frame_1: 0.2704, debug_std_frame_2: 0.3220, debug_std_frame_3: 0.3808, debug_std_frame_4: 0.4405, debug_std_frame_5: 0.4991, loss_rl: -0.1915, loss_critic: 1.3641, loss_rl_bc: 0.0161, il_score: 0.5955, rl_score: 0.6116, prev_frame_loss_waypoint_0: 0.2089, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.6428, grad_norm: 62.3263, il_score_sum: 61.1239, rl_score_sum: 62.3376, score_diff: -1.2137, il_win: 73.9000, rl_win: 123.0000
2025-09-24 07:40:40,912 - mmdet - INFO - Epoch [9][2840/3517]	lr: 3.751e-05, eta: 11:55:26, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2074, debug_std_frame_0: 0.2369, debug_std_frame_1: 0.2674, debug_std_frame_2: 0.3206, debug_std_frame_3: 0.3797, debug_std_frame_4: 0.4381, debug_std_frame_5: 0.4923, loss_rl: -0.2372, loss_critic: 1.0614, loss_rl_bc: 0.0151, il_score: 0.6393, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.2157, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.2968, grad_norm: 42.8756, il_score_sum: 61.1239, rl_score_sum: 62.3376, score_diff: -1.2137, il_win: 73.9000, rl_win: 123.0000
2025-09-24 07:40:56,808 - mmdet - INFO - Epoch [9][2860/3517]	lr: 3.751e-05, eta: 11:55:10, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.1912, debug_std_frame_0: 0.2395, debug_std_frame_1: 0.2714, debug_std_frame_2: 0.3311, debug_std_frame_3: 0.3959, debug_std_frame_4: 0.4577, debug_std_frame_5: 0.5181, loss_rl: -0.1496, loss_critic: 1.2490, loss_rl_bc: 0.0186, il_score: 0.5807, rl_score: 0.6105, prev_frame_loss_waypoint_0: 0.2177, prev_frame_loss_rl_bc_0: 0.0428, loss: 1.5926, grad_norm: 54.4668, il_score_sum: 61.1239, rl_score_sum: 62.3376, score_diff: -1.2137, il_win: 73.9000, rl_win: 123.0000
2025-09-24 07:41:12,746 - mmdet - INFO - Epoch [9][2880/3517]	lr: 3.751e-05, eta: 11:54:53, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2325, debug_std_frame_0: 0.2573, debug_std_frame_1: 0.2942, debug_std_frame_2: 0.3500, debug_std_frame_3: 0.4063, debug_std_frame_4: 0.4672, debug_std_frame_5: 0.5267, loss_rl: -0.2033, loss_critic: 1.3564, loss_rl_bc: 0.0304, il_score: 0.5980, rl_score: 0.6173, prev_frame_loss_waypoint_0: 0.2449, prev_frame_loss_rl_bc_0: 0.0336, loss: 1.7189, grad_norm: 74.8566, il_score_sum: 61.0823, rl_score_sum: 62.4111, score_diff: -1.3288, il_win: 73.9500, rl_win: 123.5500
2025-09-24 07:41:28,538 - mmdet - INFO - Epoch [9][2900/3517]	lr: 3.751e-05, eta: 11:54:37, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.1937, debug_std_frame_0: 0.2710, debug_std_frame_1: 0.3094, debug_std_frame_2: 0.3640, debug_std_frame_3: 0.4185, debug_std_frame_4: 0.4753, debug_std_frame_5: 0.5263, loss_rl: -0.2549, loss_critic: 1.3026, loss_rl_bc: 0.0177, il_score: 0.6353, rl_score: 0.6402, prev_frame_loss_waypoint_0: 0.2133, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.5144, grad_norm: 55.7590, il_score_sum: 61.0823, rl_score_sum: 62.4111, score_diff: -1.3288, il_win: 73.9500, rl_win: 123.5500
2025-09-24 07:41:44,387 - mmdet - INFO - Epoch [9][2920/3517]	lr: 3.751e-05, eta: 11:54:20, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.2015, debug_std_frame_0: 0.2844, debug_std_frame_1: 0.3263, debug_std_frame_2: 0.3830, debug_std_frame_3: 0.4407, debug_std_frame_4: 0.5019, debug_std_frame_5: 0.5584, loss_rl: -0.2040, loss_critic: 1.1850, loss_rl_bc: 0.0182, il_score: 0.6224, rl_score: 0.6144, prev_frame_loss_waypoint_0: 0.2186, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.4662, grad_norm: 51.4814, il_score_sum: 61.0823, rl_score_sum: 62.4111, score_diff: -1.3288, il_win: 73.9500, rl_win: 123.5500
2025-09-24 07:42:00,321 - mmdet - INFO - Epoch [9][2940/3517]	lr: 3.751e-05, eta: 11:54:04, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0208, loss_waypoint: 0.2133, debug_std_frame_0: 0.2798, debug_std_frame_1: 0.3198, debug_std_frame_2: 0.3754, debug_std_frame_3: 0.4296, debug_std_frame_4: 0.4891, debug_std_frame_5: 0.5474, loss_rl: -0.2400, loss_critic: 1.2619, loss_rl_bc: 0.0190, il_score: 0.6287, rl_score: 0.6431, prev_frame_loss_waypoint_0: 0.2220, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.5158, grad_norm: 67.9759, il_score_sum: 61.0823, rl_score_sum: 62.4111, score_diff: -1.3288, il_win: 73.9500, rl_win: 123.5500
2025-09-24 07:42:16,171 - mmdet - INFO - Epoch [9][2960/3517]	lr: 3.751e-05, eta: 11:53:48, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.2030, debug_std_frame_0: 0.2630, debug_std_frame_1: 0.2964, debug_std_frame_2: 0.3449, debug_std_frame_3: 0.3921, debug_std_frame_4: 0.4451, debug_std_frame_5: 0.4999, loss_rl: -0.2365, loss_critic: 1.2214, loss_rl_bc: 0.0159, il_score: 0.6322, rl_score: 0.6345, prev_frame_loss_waypoint_0: 0.2051, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.4474, grad_norm: 51.6405, il_score_sum: 61.0823, rl_score_sum: 62.4111, score_diff: -1.3288, il_win: 73.9500, rl_win: 123.5500
2025-09-24 07:42:31,964 - mmdet - INFO - Epoch [9][2980/3517]	lr: 3.751e-05, eta: 11:53:31, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.2077, debug_std_frame_0: 0.2626, debug_std_frame_1: 0.2991, debug_std_frame_2: 0.3559, debug_std_frame_3: 0.4146, debug_std_frame_4: 0.4764, debug_std_frame_5: 0.5395, loss_rl: -0.2413, loss_critic: 1.6186, loss_rl_bc: 0.0177, il_score: 0.6601, rl_score: 0.6560, prev_frame_loss_waypoint_0: 0.2300, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.8724, grad_norm: 68.5872, il_score_sum: 61.1316, rl_score_sum: 62.4381, score_diff: -1.3066, il_win: 74.0000, rl_win: 124.1000
2025-09-24 07:42:47,723 - mmdet - INFO - Epoch [9][3000/3517]	lr: 3.751e-05, eta: 11:53:15, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0212, loss_waypoint: 0.2062, debug_std_frame_0: 0.2429, debug_std_frame_1: 0.2769, debug_std_frame_2: 0.3294, debug_std_frame_3: 0.3850, debug_std_frame_4: 0.4442, debug_std_frame_5: 0.5068, loss_rl: -0.2462, loss_critic: 1.2568, loss_rl_bc: 0.0132, il_score: 0.6226, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.2230, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.4882, grad_norm: 67.9708, il_score_sum: 61.1316, rl_score_sum: 62.4381, score_diff: -1.3066, il_win: 74.0000, rl_win: 124.1000
2025-09-24 07:43:03,731 - mmdet - INFO - Epoch [9][3020/3517]	lr: 3.751e-05, eta: 11:52:58, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0213, loss_waypoint: 0.2080, debug_std_frame_0: 0.2501, debug_std_frame_1: 0.2841, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.3935, debug_std_frame_4: 0.4514, debug_std_frame_5: 0.5097, loss_rl: -0.1854, loss_critic: 1.5020, loss_rl_bc: 0.0273, il_score: 0.5959, rl_score: 0.5647, prev_frame_loss_waypoint_0: 0.2264, prev_frame_loss_rl_bc_0: 0.0290, loss: 1.8286, grad_norm: 77.8991, il_score_sum: 61.1316, rl_score_sum: 62.4381, score_diff: -1.3066, il_win: 74.0000, rl_win: 124.1000
2025-09-24 07:43:19,661 - mmdet - INFO - Epoch [9][3040/3517]	lr: 3.751e-05, eta: 11:52:42, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.1898, debug_std_frame_0: 0.2699, debug_std_frame_1: 0.3045, debug_std_frame_2: 0.3543, debug_std_frame_3: 0.4052, debug_std_frame_4: 0.4626, debug_std_frame_5: 0.5221, loss_rl: -0.1755, loss_critic: 1.8898, loss_rl_bc: 0.0280, il_score: 0.5839, rl_score: 0.5622, prev_frame_loss_waypoint_0: 0.2228, prev_frame_loss_rl_bc_0: 0.0311, loss: 2.2093, grad_norm: 71.1402, il_score_sum: 61.1316, rl_score_sum: 62.4381, score_diff: -1.3066, il_win: 74.0000, rl_win: 124.1000
2025-09-24 07:43:35,380 - mmdet - INFO - Epoch [9][3060/3517]	lr: 3.751e-05, eta: 11:52:25, time: 0.786, data_time: 0.013, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2033, debug_std_frame_0: 0.3042, debug_std_frame_1: 0.3416, debug_std_frame_2: 0.3941, debug_std_frame_3: 0.4489, debug_std_frame_4: 0.5094, debug_std_frame_5: 0.5747, loss_rl: -0.1634, loss_critic: 1.0762, loss_rl_bc: 0.0264, il_score: 0.6433, rl_score: 0.5906, prev_frame_loss_waypoint_0: 0.2193, prev_frame_loss_rl_bc_0: 0.0292, loss: 1.4135, grad_norm: 43.5399, il_score_sum: 61.1316, rl_score_sum: 62.4381, score_diff: -1.3066, il_win: 74.0000, rl_win: 124.1000
2025-09-24 07:43:51,212 - mmdet - INFO - Epoch [9][3080/3517]	lr: 3.751e-05, eta: 11:52:09, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.2401, debug_std_frame_0: 0.2987, debug_std_frame_1: 0.3320, debug_std_frame_2: 0.3787, debug_std_frame_3: 0.4263, debug_std_frame_4: 0.4799, debug_std_frame_5: 0.5368, loss_rl: -0.2507, loss_critic: 1.5260, loss_rl_bc: 0.0184, il_score: 0.5798, rl_score: 0.6101, prev_frame_loss_waypoint_0: 0.2848, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.8675, grad_norm: 70.7957, il_score_sum: 61.1790, rl_score_sum: 62.4871, score_diff: -1.3081, il_win: 74.0500, rl_win: 124.6500
2025-09-24 07:44:07,076 - mmdet - INFO - Epoch [9][3100/3517]	lr: 3.751e-05, eta: 11:51:53, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.2132, debug_std_frame_0: 0.2938, debug_std_frame_1: 0.3335, debug_std_frame_2: 0.3826, debug_std_frame_3: 0.4326, debug_std_frame_4: 0.4867, debug_std_frame_5: 0.5436, loss_rl: -0.2231, loss_critic: 1.1861, loss_rl_bc: 0.0269, il_score: 0.6238, rl_score: 0.5959, prev_frame_loss_waypoint_0: 0.2189, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.4661, grad_norm: 64.1874, il_score_sum: 61.1790, rl_score_sum: 62.4871, score_diff: -1.3081, il_win: 74.0500, rl_win: 124.6500
2025-09-24 07:44:23,021 - mmdet - INFO - Epoch [9][3120/3517]	lr: 3.751e-05, eta: 11:51:36, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1903, debug_std_frame_0: 0.2942, debug_std_frame_1: 0.3334, debug_std_frame_2: 0.3840, debug_std_frame_3: 0.4352, debug_std_frame_4: 0.4902, debug_std_frame_5: 0.5462, loss_rl: -0.2372, loss_critic: 1.1220, loss_rl_bc: 0.0188, il_score: 0.6405, rl_score: 0.6223, prev_frame_loss_waypoint_0: 0.2086, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.3452, grad_norm: 41.0639, il_score_sum: 61.1790, rl_score_sum: 62.4871, score_diff: -1.3081, il_win: 74.0500, rl_win: 124.6500
2025-09-24 07:44:38,983 - mmdet - INFO - Epoch [9][3140/3517]	lr: 3.751e-05, eta: 11:51:20, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.1652, debug_std_frame_0: 0.2624, debug_std_frame_1: 0.2959, debug_std_frame_2: 0.3412, debug_std_frame_3: 0.3885, debug_std_frame_4: 0.4378, debug_std_frame_5: 0.4892, loss_rl: -0.3054, loss_critic: 1.5980, loss_rl_bc: 0.0087, il_score: 0.6496, rl_score: 0.6700, prev_frame_loss_waypoint_0: 0.1819, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.6797, grad_norm: 46.8498, il_score_sum: 61.1790, rl_score_sum: 62.4871, score_diff: -1.3081, il_win: 74.0500, rl_win: 124.6500
2025-09-24 07:44:54,850 - mmdet - INFO - Epoch [9][3160/3517]	lr: 3.751e-05, eta: 11:51:04, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2388, debug_std_frame_0: 0.2620, debug_std_frame_1: 0.2969, debug_std_frame_2: 0.3491, debug_std_frame_3: 0.4062, debug_std_frame_4: 0.4676, debug_std_frame_5: 0.5264, loss_rl: -0.1871, loss_critic: 1.3789, loss_rl_bc: 0.0282, il_score: 0.5714, rl_score: 0.6121, prev_frame_loss_waypoint_0: 0.2536, prev_frame_loss_rl_bc_0: 0.0274, loss: 1.7644, grad_norm: 68.7555, il_score_sum: 61.1790, rl_score_sum: 62.4871, score_diff: -1.3081, il_win: 74.0500, rl_win: 124.6500
2025-09-24 07:45:10,819 - mmdet - INFO - Epoch [9][3180/3517]	lr: 3.751e-05, eta: 11:50:47, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.2014, debug_std_frame_0: 0.2735, debug_std_frame_1: 0.3057, debug_std_frame_2: 0.3556, debug_std_frame_3: 0.4096, debug_std_frame_4: 0.4677, debug_std_frame_5: 0.5233, loss_rl: -0.2129, loss_critic: 1.4421, loss_rl_bc: 0.0183, il_score: 0.5991, rl_score: 0.5870, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.7083, grad_norm: 64.1421, il_score_sum: 61.2500, rl_score_sum: 62.5690, score_diff: -1.3190, il_win: 74.1000, rl_win: 125.2500
2025-09-24 07:45:26,649 - mmdet - INFO - Epoch [9][3200/3517]	lr: 3.751e-05, eta: 11:50:31, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1747, debug_std_frame_0: 0.2728, debug_std_frame_1: 0.3055, debug_std_frame_2: 0.3527, debug_std_frame_3: 0.4042, debug_std_frame_4: 0.4599, debug_std_frame_5: 0.5156, loss_rl: -0.2696, loss_critic: 1.4187, loss_rl_bc: 0.0131, il_score: 0.6327, rl_score: 0.6424, prev_frame_loss_waypoint_0: 0.2251, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.6065, grad_norm: 61.1988, il_score_sum: 61.2500, rl_score_sum: 62.5690, score_diff: -1.3190, il_win: 74.1000, rl_win: 125.2500
2025-09-24 07:45:42,364 - mmdet - INFO - Epoch [9][3220/3517]	lr: 3.751e-05, eta: 11:50:14, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1772, debug_std_frame_0: 0.2603, debug_std_frame_1: 0.2887, debug_std_frame_2: 0.3320, debug_std_frame_3: 0.3796, debug_std_frame_4: 0.4308, debug_std_frame_5: 0.4831, loss_rl: -0.2678, loss_critic: 1.6821, loss_rl_bc: 0.0096, il_score: 0.6471, rl_score: 0.6679, prev_frame_loss_waypoint_0: 0.1958, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.8307, grad_norm: 52.4103, il_score_sum: 61.2500, rl_score_sum: 62.5690, score_diff: -1.3190, il_win: 74.1000, rl_win: 125.2500
2025-09-24 07:45:58,114 - mmdet - INFO - Epoch [9][3240/3517]	lr: 3.751e-05, eta: 11:49:58, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.2019, debug_std_frame_0: 0.2431, debug_std_frame_1: 0.2721, debug_std_frame_2: 0.3172, debug_std_frame_3: 0.3686, debug_std_frame_4: 0.4226, debug_std_frame_5: 0.4753, loss_rl: -0.2635, loss_critic: 1.3584, loss_rl_bc: 0.0117, il_score: 0.6510, rl_score: 0.7032, prev_frame_loss_waypoint_0: 0.2299, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.5820, grad_norm: 70.9337, il_score_sum: 61.2500, rl_score_sum: 62.5690, score_diff: -1.3190, il_win: 74.1000, rl_win: 125.2500
2025-09-24 07:46:14,046 - mmdet - INFO - Epoch [9][3260/3517]	lr: 3.751e-05, eta: 11:49:41, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2367, debug_std_frame_0: 0.2412, debug_std_frame_1: 0.2701, debug_std_frame_2: 0.3176, debug_std_frame_3: 0.3714, debug_std_frame_4: 0.4294, debug_std_frame_5: 0.4894, loss_rl: -0.2159, loss_critic: 1.4660, loss_rl_bc: 0.0196, il_score: 0.5568, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2376, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.7823, grad_norm: 74.1899, il_score_sum: 61.2500, rl_score_sum: 62.5690, score_diff: -1.3190, il_win: 74.1000, rl_win: 125.2500
2025-09-24 07:46:29,975 - mmdet - INFO - Epoch [9][3280/3517]	lr: 3.751e-05, eta: 11:49:25, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2189, debug_std_frame_0: 0.2515, debug_std_frame_1: 0.2824, debug_std_frame_2: 0.3355, debug_std_frame_3: 0.3939, debug_std_frame_4: 0.4578, debug_std_frame_5: 0.5206, loss_rl: -0.2204, loss_critic: 1.0935, loss_rl_bc: 0.0243, il_score: 0.6100, rl_score: 0.6426, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.3835, grad_norm: 61.4568, il_score_sum: 61.2834, rl_score_sum: 62.6558, score_diff: -1.3723, il_win: 74.1500, rl_win: 125.8500
2025-09-24 07:46:45,681 - mmdet - INFO - Epoch [9][3300/3517]	lr: 3.751e-05, eta: 11:49:08, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.2214, debug_std_frame_0: 0.2663, debug_std_frame_1: 0.2997, debug_std_frame_2: 0.3525, debug_std_frame_3: 0.4085, debug_std_frame_4: 0.4707, debug_std_frame_5: 0.5315, loss_rl: -0.1809, loss_critic: 1.2922, loss_rl_bc: 0.0205, il_score: 0.6246, rl_score: 0.6131, prev_frame_loss_waypoint_0: 0.2350, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.6335, grad_norm: 65.4466, il_score_sum: 61.2834, rl_score_sum: 62.6558, score_diff: -1.3723, il_win: 74.1500, rl_win: 125.8500
2025-09-24 07:47:01,571 - mmdet - INFO - Epoch [9][3320/3517]	lr: 3.751e-05, eta: 11:48:52, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1901, debug_std_frame_0: 0.2648, debug_std_frame_1: 0.3006, debug_std_frame_2: 0.3554, debug_std_frame_3: 0.4161, debug_std_frame_4: 0.4793, debug_std_frame_5: 0.5435, loss_rl: -0.2746, loss_critic: 1.0883, loss_rl_bc: 0.0135, il_score: 0.6627, rl_score: 0.6586, prev_frame_loss_waypoint_0: 0.2159, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.2729, grad_norm: 55.7244, il_score_sum: 61.2834, rl_score_sum: 62.6558, score_diff: -1.3723, il_win: 74.1500, rl_win: 125.8500
2025-09-24 07:47:17,346 - mmdet - INFO - Epoch [9][3340/3517]	lr: 3.751e-05, eta: 11:48:36, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2065, debug_std_frame_0: 0.2729, debug_std_frame_1: 0.3052, debug_std_frame_2: 0.3539, debug_std_frame_3: 0.4120, debug_std_frame_4: 0.4727, debug_std_frame_5: 0.5337, loss_rl: -0.1889, loss_critic: 1.2175, loss_rl_bc: 0.0301, il_score: 0.6413, rl_score: 0.5914, prev_frame_loss_waypoint_0: 0.2313, prev_frame_loss_rl_bc_0: 0.0384, loss: 1.5575, grad_norm: 81.4257, il_score_sum: 61.2834, rl_score_sum: 62.6558, score_diff: -1.3723, il_win: 74.1500, rl_win: 125.8500
2025-09-24 07:47:33,201 - mmdet - INFO - Epoch [9][3360/3517]	lr: 3.751e-05, eta: 11:48:19, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2014, debug_std_frame_0: 0.2787, debug_std_frame_1: 0.3148, debug_std_frame_2: 0.3606, debug_std_frame_3: 0.4159, debug_std_frame_4: 0.4710, debug_std_frame_5: 0.5328, loss_rl: -0.1973, loss_critic: 1.2867, loss_rl_bc: 0.0167, il_score: 0.6135, rl_score: 0.6249, prev_frame_loss_waypoint_0: 0.2003, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.5518, grad_norm: 60.6178, il_score_sum: 61.2834, rl_score_sum: 62.6558, score_diff: -1.3723, il_win: 74.1500, rl_win: 125.8500
2025-09-24 07:47:49,052 - mmdet - INFO - Epoch [9][3380/3517]	lr: 3.751e-05, eta: 11:48:03, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2347, debug_std_frame_0: 0.2981, debug_std_frame_1: 0.3324, debug_std_frame_2: 0.3781, debug_std_frame_3: 0.4371, debug_std_frame_4: 0.4942, debug_std_frame_5: 0.5535, loss_rl: -0.1892, loss_critic: 0.9737, loss_rl_bc: 0.0226, il_score: 0.5999, rl_score: 0.6027, prev_frame_loss_waypoint_0: 0.2404, prev_frame_loss_rl_bc_0: 0.0246, loss: 1.3299, grad_norm: 74.0729, il_score_sum: 61.3416, rl_score_sum: 62.5995, score_diff: -1.2578, il_win: 74.2000, rl_win: 126.4000
2025-09-24 07:48:04,860 - mmdet - INFO - Epoch [9][3400/3517]	lr: 3.751e-05, eta: 11:47:46, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2100, debug_std_frame_0: 0.2822, debug_std_frame_1: 0.3177, debug_std_frame_2: 0.3631, debug_std_frame_3: 0.4208, debug_std_frame_4: 0.4781, debug_std_frame_5: 0.5376, loss_rl: -0.2168, loss_critic: 1.5873, loss_rl_bc: 0.0233, il_score: 0.6042, rl_score: 0.6158, prev_frame_loss_waypoint_0: 0.2255, prev_frame_loss_rl_bc_0: 0.0233, loss: 1.8772, grad_norm: 59.7062, il_score_sum: 61.3416, rl_score_sum: 62.5995, score_diff: -1.2578, il_win: 74.2000, rl_win: 126.4000
2025-09-24 07:48:20,675 - mmdet - INFO - Epoch [9][3420/3517]	lr: 3.751e-05, eta: 11:47:30, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2270, debug_std_frame_0: 0.2728, debug_std_frame_1: 0.3089, debug_std_frame_2: 0.3548, debug_std_frame_3: 0.4124, debug_std_frame_4: 0.4687, debug_std_frame_5: 0.5268, loss_rl: -0.1863, loss_critic: 1.4416, loss_rl_bc: 0.0260, il_score: 0.5845, rl_score: 0.6159, prev_frame_loss_waypoint_0: 0.2449, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.8010, grad_norm: 73.4556, il_score_sum: 61.3416, rl_score_sum: 62.5995, score_diff: -1.2578, il_win: 74.2000, rl_win: 126.4000
2025-09-24 07:48:36,621 - mmdet - INFO - Epoch [9][3440/3517]	lr: 3.751e-05, eta: 11:47:13, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.2146, debug_std_frame_0: 0.2660, debug_std_frame_1: 0.2984, debug_std_frame_2: 0.3413, debug_std_frame_3: 0.3951, debug_std_frame_4: 0.4504, debug_std_frame_5: 0.5095, loss_rl: -0.2564, loss_critic: 1.3736, loss_rl_bc: 0.0133, il_score: 0.6070, rl_score: 0.6481, prev_frame_loss_waypoint_0: 0.2328, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.6173, grad_norm: 71.4616, il_score_sum: 61.3416, rl_score_sum: 62.5995, score_diff: -1.2578, il_win: 74.2000, rl_win: 126.4000
2025-09-24 07:48:52,518 - mmdet - INFO - Epoch [9][3460/3517]	lr: 3.751e-05, eta: 11:46:57, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2290, debug_std_frame_0: 0.2584, debug_std_frame_1: 0.2910, debug_std_frame_2: 0.3378, debug_std_frame_3: 0.3968, debug_std_frame_4: 0.4568, debug_std_frame_5: 0.5195, loss_rl: -0.1962, loss_critic: 1.2201, loss_rl_bc: 0.0166, il_score: 0.6197, rl_score: 0.6545, prev_frame_loss_waypoint_0: 0.2318, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.5398, grad_norm: 65.2566, il_score_sum: 61.3416, rl_score_sum: 62.5995, score_diff: -1.2578, il_win: 74.2000, rl_win: 126.4000
2025-09-24 07:49:08,338 - mmdet - INFO - Epoch [9][3480/3517]	lr: 3.751e-05, eta: 11:46:41, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2302, debug_std_frame_0: 0.2656, debug_std_frame_1: 0.2974, debug_std_frame_2: 0.3440, debug_std_frame_3: 0.4050, debug_std_frame_4: 0.4657, debug_std_frame_5: 0.5304, loss_rl: -0.1905, loss_critic: 1.2788, loss_rl_bc: 0.0484, il_score: 0.5976, rl_score: 0.5901, prev_frame_loss_waypoint_0: 0.2444, prev_frame_loss_rl_bc_0: 0.0544, loss: 1.6881, grad_norm: 85.1504, il_score_sum: 61.2954, rl_score_sum: 62.6158, score_diff: -1.3204, il_win: 74.2500, rl_win: 126.9500
2025-09-24 07:49:24,072 - mmdet - INFO - Epoch [9][3500/3517]	lr: 3.751e-05, eta: 11:46:24, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.2310, debug_std_frame_0: 0.2837, debug_std_frame_1: 0.3208, debug_std_frame_2: 0.3677, debug_std_frame_3: 0.4273, debug_std_frame_4: 0.4846, debug_std_frame_5: 0.5442, loss_rl: -0.2615, loss_critic: 1.6040, loss_rl_bc: 0.0170, il_score: 0.5874, rl_score: 0.6268, prev_frame_loss_waypoint_0: 0.2336, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.8633, grad_norm: 77.7225, il_score_sum: 61.2954, rl_score_sum: 62.6158, score_diff: -1.3204, il_win: 74.2500, rl_win: 126.9500
2025-09-24 07:49:37,276 - mmdet - INFO - Saving checkpoint at 9 epochs
2025-09-24 07:52:09,926 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 07:52:09,926 - mmdet - INFO - Epoch(val) [9][753]	plan_L2_1s: 0.3886, plan_L2_2s: 0.7313, plan_L2_3s: 1.1770, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0009, plan_obj_box_col_2s: 0.0017, plan_obj_box_col_3s: 0.0061, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3505, plan_L2_2s_rl_actor: 0.6711, plan_L2_3s_rl_actor: 1.0985, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0000, plan_obj_box_col_1s_rl_actor: 0.0063, plan_obj_box_col_2s_rl_actor: 0.0080, plan_obj_box_col_3s_rl_actor: 0.0124, fut_valid_flag_rl_actor: 1.0000
2025-09-24 07:52:34,069 - mmdet - INFO - Epoch [10][20/3517]	lr: 3.458e-05, eta: 11:45:45, time: 1.206, data_time: 0.349, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2528, debug_std_frame_0: 0.2849, debug_std_frame_1: 0.3200, debug_std_frame_2: 0.3657, debug_std_frame_3: 0.4237, debug_std_frame_4: 0.4834, debug_std_frame_5: 0.5402, loss_rl: -0.1741, loss_critic: 1.2866, loss_rl_bc: 0.0425, il_score: 0.6033, rl_score: 0.5929, prev_frame_loss_waypoint_0: 0.2810, prev_frame_loss_rl_bc_0: 0.0554, loss: 1.7667, grad_norm: 68.7367
2025-09-24 07:52:50,649 - mmdet - INFO - Epoch [10][40/3517]	lr: 3.458e-05, eta: 11:45:30, time: 0.829, data_time: 0.014, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.1910, debug_std_frame_0: 0.3205, debug_std_frame_1: 0.3530, debug_std_frame_2: 0.3922, debug_std_frame_3: 0.4444, debug_std_frame_4: 0.4986, debug_std_frame_5: 0.5547, loss_rl: -0.2330, loss_critic: 1.4971, loss_rl_bc: 0.0273, il_score: 0.5979, rl_score: 0.5831, prev_frame_loss_waypoint_0: 0.2228, prev_frame_loss_rl_bc_0: 0.0270, loss: 1.7554, grad_norm: 56.2028
2025-09-24 07:53:07,604 - mmdet - INFO - Epoch [10][60/3517]	lr: 3.458e-05, eta: 11:45:15, time: 0.848, data_time: 0.014, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2083, debug_std_frame_0: 0.3173, debug_std_frame_1: 0.3529, debug_std_frame_2: 0.3937, debug_std_frame_3: 0.4489, debug_std_frame_4: 0.5045, debug_std_frame_5: 0.5659, loss_rl: -0.2459, loss_critic: 1.3201, loss_rl_bc: 0.0193, il_score: 0.6058, rl_score: 0.6306, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.5697, grad_norm: 58.9296, il_score_sum: 59.2644, rl_score_sum: 60.3618, score_diff: -1.0974, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:53:24,058 - mmdet - INFO - Epoch [10][80/3517]	lr: 3.458e-05, eta: 11:45:00, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0224, loss_waypoint: 0.1874, debug_std_frame_0: 0.2960, debug_std_frame_1: 0.3327, debug_std_frame_2: 0.3728, debug_std_frame_3: 0.4292, debug_std_frame_4: 0.4829, debug_std_frame_5: 0.5402, loss_rl: -0.2224, loss_critic: 1.3264, loss_rl_bc: 0.0115, il_score: 0.6152, rl_score: 0.6425, prev_frame_loss_waypoint_0: 0.2018, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.5416, grad_norm: 59.6675, il_score_sum: 59.2644, rl_score_sum: 60.3618, score_diff: -1.0974, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:53:40,540 - mmdet - INFO - Epoch [10][100/3517]	lr: 3.458e-05, eta: 11:44:44, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2050, debug_std_frame_0: 0.2842, debug_std_frame_1: 0.3151, debug_std_frame_2: 0.3533, debug_std_frame_3: 0.4051, debug_std_frame_4: 0.4569, debug_std_frame_5: 0.5090, loss_rl: -0.1908, loss_critic: 1.6221, loss_rl_bc: 0.0217, il_score: 0.6212, rl_score: 0.6067, prev_frame_loss_waypoint_0: 0.2152, prev_frame_loss_rl_bc_0: 0.0208, loss: 1.9156, grad_norm: 80.2192, il_score_sum: 59.2644, rl_score_sum: 60.3618, score_diff: -1.0974, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:53:56,955 - mmdet - INFO - Epoch [10][120/3517]	lr: 3.458e-05, eta: 11:44:29, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0212, loss_waypoint: 0.1955, debug_std_frame_0: 0.2877, debug_std_frame_1: 0.3229, debug_std_frame_2: 0.3629, debug_std_frame_3: 0.4114, debug_std_frame_4: 0.4615, debug_std_frame_5: 0.5128, loss_rl: -0.2872, loss_critic: 1.6148, loss_rl_bc: 0.0180, il_score: 0.6116, rl_score: 0.6180, prev_frame_loss_waypoint_0: 0.2265, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.8109, grad_norm: 57.2454, il_score_sum: 59.2644, rl_score_sum: 60.3618, score_diff: -1.0974, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:54:13,357 - mmdet - INFO - Epoch [10][140/3517]	lr: 3.458e-05, eta: 11:44:13, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2153, debug_std_frame_0: 0.3043, debug_std_frame_1: 0.3362, debug_std_frame_2: 0.3786, debug_std_frame_3: 0.4335, debug_std_frame_4: 0.4881, debug_std_frame_5: 0.5490, loss_rl: -0.2231, loss_critic: 1.3459, loss_rl_bc: 0.0234, il_score: 0.6069, rl_score: 0.6313, prev_frame_loss_waypoint_0: 0.2324, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.6354, grad_norm: 70.8610, il_score_sum: 59.2644, rl_score_sum: 60.3618, score_diff: -1.0974, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:54:29,618 - mmdet - INFO - Epoch [10][160/3517]	lr: 3.458e-05, eta: 11:43:58, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2074, debug_std_frame_0: 0.2806, debug_std_frame_1: 0.3124, debug_std_frame_2: 0.3523, debug_std_frame_3: 0.4071, debug_std_frame_4: 0.4613, debug_std_frame_5: 0.5183, loss_rl: -0.2384, loss_critic: 1.3306, loss_rl_bc: 0.0169, il_score: 0.6253, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2222, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.5776, grad_norm: 65.8861, il_score_sum: 60.3815, rl_score_sum: 61.3670, score_diff: -0.9855, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:54:45,689 - mmdet - INFO - Epoch [10][180/3517]	lr: 3.458e-05, eta: 11:43:42, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.2071, debug_std_frame_0: 0.2769, debug_std_frame_1: 0.3107, debug_std_frame_2: 0.3575, debug_std_frame_3: 0.4119, debug_std_frame_4: 0.4677, debug_std_frame_5: 0.5252, loss_rl: -0.2353, loss_critic: 1.7683, loss_rl_bc: 0.0162, il_score: 0.5817, rl_score: 0.6074, prev_frame_loss_waypoint_0: 0.2200, prev_frame_loss_rl_bc_0: 0.0208, loss: 2.0198, grad_norm: 57.2689, il_score_sum: 60.3815, rl_score_sum: 61.3670, score_diff: -0.9855, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:55:02,000 - mmdet - INFO - Epoch [10][200/3517]	lr: 3.458e-05, eta: 11:43:26, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.2057, debug_std_frame_0: 0.2444, debug_std_frame_1: 0.2800, debug_std_frame_2: 0.3300, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4479, debug_std_frame_5: 0.5077, loss_rl: -0.2630, loss_critic: 1.3614, loss_rl_bc: 0.0143, il_score: 0.6063, rl_score: 0.6456, prev_frame_loss_waypoint_0: 0.2251, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.5850, grad_norm: 60.4633, il_score_sum: 60.3815, rl_score_sum: 61.3670, score_diff: -0.9855, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:55:18,533 - mmdet - INFO - Epoch [10][220/3517]	lr: 3.458e-05, eta: 11:43:11, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.2121, debug_std_frame_0: 0.2366, debug_std_frame_1: 0.2692, debug_std_frame_2: 0.3197, debug_std_frame_3: 0.3758, debug_std_frame_4: 0.4343, debug_std_frame_5: 0.4994, loss_rl: -0.2308, loss_critic: 1.3982, loss_rl_bc: 0.0133, il_score: 0.6012, rl_score: 0.6446, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.6514, grad_norm: 46.1756, il_score_sum: 60.3815, rl_score_sum: 61.3670, score_diff: -0.9855, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:55:34,654 - mmdet - INFO - Epoch [10][240/3517]	lr: 3.458e-05, eta: 11:42:55, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2100, debug_std_frame_0: 0.2352, debug_std_frame_1: 0.2705, debug_std_frame_2: 0.3224, debug_std_frame_3: 0.3810, debug_std_frame_4: 0.4401, debug_std_frame_5: 0.5000, loss_rl: -0.2522, loss_critic: 1.3156, loss_rl_bc: 0.0170, il_score: 0.6396, rl_score: 0.6437, prev_frame_loss_waypoint_0: 0.2273, prev_frame_loss_rl_bc_0: 0.0246, loss: 1.5681, grad_norm: 56.1061, il_score_sum: 60.3815, rl_score_sum: 61.3670, score_diff: -0.9855, il_win: 75.0000, rl_win: 133.0000
2025-09-24 07:55:50,884 - mmdet - INFO - Epoch [10][260/3517]	lr: 3.458e-05, eta: 11:42:39, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2189, debug_std_frame_0: 0.2515, debug_std_frame_1: 0.2908, debug_std_frame_2: 0.3520, debug_std_frame_3: 0.4187, debug_std_frame_4: 0.4848, debug_std_frame_5: 0.5578, loss_rl: -0.1755, loss_critic: 1.2027, loss_rl_bc: 0.0227, il_score: 0.6089, rl_score: 0.5883, prev_frame_loss_waypoint_0: 0.2153, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.5300, grad_norm: 52.4704, il_score_sum: 60.7053, rl_score_sum: 62.1043, score_diff: -1.3990, il_win: 75.0000, rl_win: 133.3333
2025-09-24 07:56:06,913 - mmdet - INFO - Epoch [10][280/3517]	lr: 3.458e-05, eta: 11:42:23, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2277, debug_std_frame_0: 0.2837, debug_std_frame_1: 0.3218, debug_std_frame_2: 0.3789, debug_std_frame_3: 0.4365, debug_std_frame_4: 0.5018, debug_std_frame_5: 0.5691, loss_rl: -0.2093, loss_critic: 1.2775, loss_rl_bc: 0.0227, il_score: 0.6079, rl_score: 0.6251, prev_frame_loss_waypoint_0: 0.2282, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.5881, grad_norm: 66.3406, il_score_sum: 60.7053, rl_score_sum: 62.1043, score_diff: -1.3990, il_win: 75.0000, rl_win: 133.3333
2025-09-24 07:56:23,275 - mmdet - INFO - Epoch [10][300/3517]	lr: 3.458e-05, eta: 11:42:07, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.1931, debug_std_frame_0: 0.2632, debug_std_frame_1: 0.2954, debug_std_frame_2: 0.3537, debug_std_frame_3: 0.4167, debug_std_frame_4: 0.4811, debug_std_frame_5: 0.5455, loss_rl: -0.2362, loss_critic: 1.2411, loss_rl_bc: 0.0150, il_score: 0.6400, rl_score: 0.6452, prev_frame_loss_waypoint_0: 0.2047, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.4533, grad_norm: 45.4999, il_score_sum: 60.7053, rl_score_sum: 62.1043, score_diff: -1.3990, il_win: 75.0000, rl_win: 133.3333
2025-09-24 07:56:39,312 - mmdet - INFO - Epoch [10][320/3517]	lr: 3.458e-05, eta: 11:41:51, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0192, loss_waypoint: 0.2069, debug_std_frame_0: 0.2475, debug_std_frame_1: 0.2777, debug_std_frame_2: 0.3320, debug_std_frame_3: 0.3903, debug_std_frame_4: 0.4513, debug_std_frame_5: 0.5155, loss_rl: -0.2978, loss_critic: 1.5649, loss_rl_bc: 0.0162, il_score: 0.6245, rl_score: 0.6719, prev_frame_loss_waypoint_0: 0.2094, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.7373, grad_norm: 45.2870, il_score_sum: 60.7053, rl_score_sum: 62.1043, score_diff: -1.3990, il_win: 75.0000, rl_win: 133.3333
2025-09-24 07:56:55,532 - mmdet - INFO - Epoch [10][340/3517]	lr: 3.458e-05, eta: 11:41:35, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0190, loss_waypoint: 0.2359, debug_std_frame_0: 0.2443, debug_std_frame_1: 0.2767, debug_std_frame_2: 0.3313, debug_std_frame_3: 0.3872, debug_std_frame_4: 0.4441, debug_std_frame_5: 0.5121, loss_rl: -0.2230, loss_critic: 1.0292, loss_rl_bc: 0.0149, il_score: 0.5728, rl_score: 0.6397, prev_frame_loss_waypoint_0: 0.2617, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.3582, grad_norm: 86.9728, il_score_sum: 60.7053, rl_score_sum: 62.1043, score_diff: -1.3990, il_win: 75.0000, rl_win: 133.3333
2025-09-24 07:57:11,908 - mmdet - INFO - Epoch [10][360/3517]	lr: 3.458e-05, eta: 11:41:20, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0189, loss_waypoint: 0.2290, debug_std_frame_0: 0.2464, debug_std_frame_1: 0.2809, debug_std_frame_2: 0.3341, debug_std_frame_3: 0.3897, debug_std_frame_4: 0.4478, debug_std_frame_5: 0.5144, loss_rl: -0.1986, loss_critic: 1.2470, loss_rl_bc: 0.0156, il_score: 0.5916, rl_score: 0.6216, prev_frame_loss_waypoint_0: 0.2460, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.5716, grad_norm: 66.8338, il_score_sum: 60.6633, rl_score_sum: 62.3562, score_diff: -1.6929, il_win: 75.0000, rl_win: 133.7500
2025-09-24 07:57:28,172 - mmdet - INFO - Epoch [10][380/3517]	lr: 3.458e-05, eta: 11:41:04, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0212, loss_waypoint: 0.1976, debug_std_frame_0: 0.2364, debug_std_frame_1: 0.2722, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3878, debug_std_frame_4: 0.4507, debug_std_frame_5: 0.5209, loss_rl: -0.2457, loss_critic: 1.2792, loss_rl_bc: 0.0146, il_score: 0.6327, rl_score: 0.6447, prev_frame_loss_waypoint_0: 0.2243, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.5104, grad_norm: 54.7111, il_score_sum: 60.6633, rl_score_sum: 62.3562, score_diff: -1.6929, il_win: 75.0000, rl_win: 133.7500
2025-09-24 07:57:44,253 - mmdet - INFO - Epoch [10][400/3517]	lr: 3.458e-05, eta: 11:40:48, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0208, loss_waypoint: 0.1890, debug_std_frame_0: 0.2382, debug_std_frame_1: 0.2701, debug_std_frame_2: 0.3220, debug_std_frame_3: 0.3808, debug_std_frame_4: 0.4426, debug_std_frame_5: 0.5062, loss_rl: -0.2403, loss_critic: 1.3490, loss_rl_bc: 0.0157, il_score: 0.6489, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.2193, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.5754, grad_norm: 47.0320, il_score_sum: 60.6633, rl_score_sum: 62.3562, score_diff: -1.6929, il_win: 75.0000, rl_win: 133.7500
2025-09-24 07:58:00,431 - mmdet - INFO - Epoch [10][420/3517]	lr: 3.458e-05, eta: 11:40:32, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.2158, debug_std_frame_0: 0.2402, debug_std_frame_1: 0.2778, debug_std_frame_2: 0.3322, debug_std_frame_3: 0.3929, debug_std_frame_4: 0.4569, debug_std_frame_5: 0.5245, loss_rl: -0.2101, loss_critic: 1.1718, loss_rl_bc: 0.0206, il_score: 0.6065, rl_score: 0.6173, prev_frame_loss_waypoint_0: 0.2279, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.4646, grad_norm: 53.9848, il_score_sum: 60.6633, rl_score_sum: 62.3562, score_diff: -1.6929, il_win: 75.0000, rl_win: 133.7500
2025-09-24 07:58:16,645 - mmdet - INFO - Epoch [10][440/3517]	lr: 3.458e-05, eta: 11:40:16, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.2008, debug_std_frame_0: 0.2584, debug_std_frame_1: 0.2924, debug_std_frame_2: 0.3432, debug_std_frame_3: 0.3987, debug_std_frame_4: 0.4616, debug_std_frame_5: 0.5303, loss_rl: -0.2455, loss_critic: 1.2604, loss_rl_bc: 0.0219, il_score: 0.6480, rl_score: 0.6359, prev_frame_loss_waypoint_0: 0.2289, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.5106, grad_norm: 59.8113, il_score_sum: 60.6633, rl_score_sum: 62.3562, score_diff: -1.6929, il_win: 75.0000, rl_win: 133.7500
2025-09-24 07:58:33,079 - mmdet - INFO - Epoch [10][460/3517]	lr: 3.458e-05, eta: 11:40:01, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0205, loss_waypoint: 0.2050, debug_std_frame_0: 0.2671, debug_std_frame_1: 0.3025, debug_std_frame_2: 0.3518, debug_std_frame_3: 0.4094, debug_std_frame_4: 0.4676, debug_std_frame_5: 0.5340, loss_rl: -0.1858, loss_critic: 1.4975, loss_rl_bc: 0.0266, il_score: 0.6295, rl_score: 0.6032, prev_frame_loss_waypoint_0: 0.2127, prev_frame_loss_rl_bc_0: 0.0294, loss: 1.8058, grad_norm: 67.8887, il_score_sum: 61.1372, rl_score_sum: 62.6311, score_diff: -1.4938, il_win: 75.0000, rl_win: 134.0000
2025-09-24 07:58:48,955 - mmdet - INFO - Epoch [10][480/3517]	lr: 3.458e-05, eta: 11:39:45, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0207, loss_waypoint: 0.2211, debug_std_frame_0: 0.2853, debug_std_frame_1: 0.3186, debug_std_frame_2: 0.3654, debug_std_frame_3: 0.4179, debug_std_frame_4: 0.4752, debug_std_frame_5: 0.5383, loss_rl: -0.1803, loss_critic: 1.0395, loss_rl_bc: 0.0237, il_score: 0.6083, rl_score: 0.6258, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.3730, grad_norm: 63.7490, il_score_sum: 61.1372, rl_score_sum: 62.6311, score_diff: -1.4938, il_win: 75.0000, rl_win: 134.0000
2025-09-24 07:59:05,055 - mmdet - INFO - Epoch [10][500/3517]	lr: 3.458e-05, eta: 11:39:29, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2283, debug_std_frame_0: 0.2964, debug_std_frame_1: 0.3352, debug_std_frame_2: 0.3875, debug_std_frame_3: 0.4500, debug_std_frame_4: 0.5133, debug_std_frame_5: 0.5815, loss_rl: -0.2272, loss_critic: 1.1951, loss_rl_bc: 0.0236, il_score: 0.6064, rl_score: 0.6356, prev_frame_loss_waypoint_0: 0.2381, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.5029, grad_norm: 58.4827, il_score_sum: 61.1372, rl_score_sum: 62.6311, score_diff: -1.4938, il_win: 75.0000, rl_win: 134.0000
2025-09-24 07:59:21,106 - mmdet - INFO - Epoch [10][520/3517]	lr: 3.458e-05, eta: 11:39:12, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0205, loss_waypoint: 0.1986, debug_std_frame_0: 0.2820, debug_std_frame_1: 0.3148, debug_std_frame_2: 0.3649, debug_std_frame_3: 0.4219, debug_std_frame_4: 0.4821, debug_std_frame_5: 0.5461, loss_rl: -0.2028, loss_critic: 1.5323, loss_rl_bc: 0.0140, il_score: 0.5797, rl_score: 0.6157, prev_frame_loss_waypoint_0: 0.2233, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.8020, grad_norm: 62.9086, il_score_sum: 61.1372, rl_score_sum: 62.6311, score_diff: -1.4938, il_win: 75.0000, rl_win: 134.0000
2025-09-24 07:59:37,205 - mmdet - INFO - Epoch [10][540/3517]	lr: 3.458e-05, eta: 11:38:56, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.1942, debug_std_frame_0: 0.2575, debug_std_frame_1: 0.2889, debug_std_frame_2: 0.3373, debug_std_frame_3: 0.3915, debug_std_frame_4: 0.4495, debug_std_frame_5: 0.5114, loss_rl: -0.2806, loss_critic: 1.5147, loss_rl_bc: 0.0104, il_score: 0.6366, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.6739, grad_norm: 60.8975, il_score_sum: 61.1372, rl_score_sum: 62.6311, score_diff: -1.4938, il_win: 75.0000, rl_win: 134.0000
2025-09-24 07:59:53,216 - mmdet - INFO - Epoch [10][560/3517]	lr: 3.458e-05, eta: 11:38:40, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.1960, debug_std_frame_0: 0.2408, debug_std_frame_1: 0.2694, debug_std_frame_2: 0.3194, debug_std_frame_3: 0.3775, debug_std_frame_4: 0.4382, debug_std_frame_5: 0.5023, loss_rl: -0.2153, loss_critic: 1.3433, loss_rl_bc: 0.0153, il_score: 0.6234, rl_score: 0.6226, prev_frame_loss_waypoint_0: 0.2183, prev_frame_loss_rl_bc_0: 0.0278, loss: 1.6071, grad_norm: 54.0485, il_score_sum: 61.1385, rl_score_sum: 62.7312, score_diff: -1.5927, il_win: 75.0000, rl_win: 134.3333
2025-09-24 08:00:09,291 - mmdet - INFO - Epoch [10][580/3517]	lr: 3.458e-05, eta: 11:38:24, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0213, loss_waypoint: 0.2130, debug_std_frame_0: 0.2576, debug_std_frame_1: 0.2935, debug_std_frame_2: 0.3462, debug_std_frame_3: 0.4074, debug_std_frame_4: 0.4664, debug_std_frame_5: 0.5317, loss_rl: -0.1542, loss_critic: 1.4737, loss_rl_bc: 0.0267, il_score: 0.5962, rl_score: 0.6023, prev_frame_loss_waypoint_0: 0.2145, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.8191, grad_norm: 51.3724, il_score_sum: 61.1385, rl_score_sum: 62.7312, score_diff: -1.5927, il_win: 75.0000, rl_win: 134.3333
2025-09-24 08:00:25,562 - mmdet - INFO - Epoch [10][600/3517]	lr: 3.458e-05, eta: 11:38:09, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.2082, debug_std_frame_0: 0.2682, debug_std_frame_1: 0.2994, debug_std_frame_2: 0.3454, debug_std_frame_3: 0.3994, debug_std_frame_4: 0.4557, debug_std_frame_5: 0.5156, loss_rl: -0.2588, loss_critic: 1.6896, loss_rl_bc: 0.0174, il_score: 0.6324, rl_score: 0.6506, prev_frame_loss_waypoint_0: 0.2269, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.9224, grad_norm: 49.0052, il_score_sum: 61.1385, rl_score_sum: 62.7312, score_diff: -1.5927, il_win: 75.0000, rl_win: 134.3333
2025-09-24 08:00:41,634 - mmdet - INFO - Epoch [10][620/3517]	lr: 3.458e-05, eta: 11:37:53, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2089, debug_std_frame_0: 0.2485, debug_std_frame_1: 0.2792, debug_std_frame_2: 0.3312, debug_std_frame_3: 0.3909, debug_std_frame_4: 0.4534, debug_std_frame_5: 0.5174, loss_rl: -0.2409, loss_critic: 1.5052, loss_rl_bc: 0.0165, il_score: 0.6294, rl_score: 0.6498, prev_frame_loss_waypoint_0: 0.2255, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.7546, grad_norm: 42.0155, il_score_sum: 61.1385, rl_score_sum: 62.7312, score_diff: -1.5927, il_win: 75.0000, rl_win: 134.3333
2025-09-24 08:00:57,477 - mmdet - INFO - Epoch [10][640/3517]	lr: 3.458e-05, eta: 11:37:36, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.1871, debug_std_frame_0: 0.2406, debug_std_frame_1: 0.2694, debug_std_frame_2: 0.3210, debug_std_frame_3: 0.3776, debug_std_frame_4: 0.4358, debug_std_frame_5: 0.4941, loss_rl: -0.2442, loss_critic: 1.0998, loss_rl_bc: 0.0110, il_score: 0.6378, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.2259, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.3170, grad_norm: 54.8158, il_score_sum: 61.1385, rl_score_sum: 62.7312, score_diff: -1.5927, il_win: 75.0000, rl_win: 134.3333
2025-09-24 08:01:13,667 - mmdet - INFO - Epoch [10][660/3517]	lr: 3.458e-05, eta: 11:37:20, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.1988, debug_std_frame_0: 0.2511, debug_std_frame_1: 0.2802, debug_std_frame_2: 0.3266, debug_std_frame_3: 0.3820, debug_std_frame_4: 0.4379, debug_std_frame_5: 0.4996, loss_rl: -0.1891, loss_critic: 1.4427, loss_rl_bc: 0.0189, il_score: 0.6169, rl_score: 0.6190, prev_frame_loss_waypoint_0: 0.2247, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.7381, grad_norm: 77.9938, il_score_sum: 61.3365, rl_score_sum: 62.9244, score_diff: -1.5880, il_win: 75.0000, rl_win: 134.7143
2025-09-24 08:01:29,804 - mmdet - INFO - Epoch [10][680/3517]	lr: 3.458e-05, eta: 11:37:04, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.1849, debug_std_frame_0: 0.2363, debug_std_frame_1: 0.2673, debug_std_frame_2: 0.3182, debug_std_frame_3: 0.3742, debug_std_frame_4: 0.4299, debug_std_frame_5: 0.4845, loss_rl: -0.3125, loss_critic: 1.3266, loss_rl_bc: 0.0089, il_score: 0.6669, rl_score: 0.6882, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.4552, grad_norm: 61.3600, il_score_sum: 61.3365, rl_score_sum: 62.9244, score_diff: -1.5880, il_win: 75.0000, rl_win: 134.7143
2025-09-24 08:01:45,706 - mmdet - INFO - Epoch [10][700/3517]	lr: 3.458e-05, eta: 11:36:48, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2468, debug_std_frame_0: 0.2442, debug_std_frame_1: 0.2710, debug_std_frame_2: 0.3189, debug_std_frame_3: 0.3753, debug_std_frame_4: 0.4351, debug_std_frame_5: 0.4953, loss_rl: -0.2289, loss_critic: 1.2029, loss_rl_bc: 0.0167, il_score: 0.6109, rl_score: 0.6455, prev_frame_loss_waypoint_0: 0.2314, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.4988, grad_norm: 78.8837, il_score_sum: 61.3365, rl_score_sum: 62.9244, score_diff: -1.5880, il_win: 75.0000, rl_win: 134.7143
2025-09-24 08:02:01,521 - mmdet - INFO - Epoch [10][720/3517]	lr: 3.458e-05, eta: 11:36:31, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0192, loss_waypoint: 0.2054, debug_std_frame_0: 0.2377, debug_std_frame_1: 0.2651, debug_std_frame_2: 0.3100, debug_std_frame_3: 0.3629, debug_std_frame_4: 0.4140, debug_std_frame_5: 0.4683, loss_rl: -0.3051, loss_critic: 1.3303, loss_rl_bc: 0.0086, il_score: 0.6185, rl_score: 0.6781, prev_frame_loss_waypoint_0: 0.2125, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.4803, grad_norm: 66.2287, il_score_sum: 61.3365, rl_score_sum: 62.9244, score_diff: -1.5880, il_win: 75.0000, rl_win: 134.7143
2025-09-24 08:02:17,514 - mmdet - INFO - Epoch [10][740/3517]	lr: 3.458e-05, eta: 11:36:15, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.2094, debug_std_frame_0: 0.2383, debug_std_frame_1: 0.2716, debug_std_frame_2: 0.3250, debug_std_frame_3: 0.3843, debug_std_frame_4: 0.4427, debug_std_frame_5: 0.5025, loss_rl: -0.2061, loss_critic: 1.3304, loss_rl_bc: 0.0202, il_score: 0.6143, rl_score: 0.6331, prev_frame_loss_waypoint_0: 0.2380, prev_frame_loss_rl_bc_0: 0.0663, loss: 1.6791, grad_norm: 59.6027, il_score_sum: 61.3365, rl_score_sum: 62.9244, score_diff: -1.5880, il_win: 75.0000, rl_win: 134.7143
2025-09-24 08:02:33,759 - mmdet - INFO - Epoch [10][760/3517]	lr: 3.458e-05, eta: 11:36:00, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0201, loss_waypoint: 0.2093, debug_std_frame_0: 0.2468, debug_std_frame_1: 0.2984, debug_std_frame_2: 0.3617, debug_std_frame_3: 0.4263, debug_std_frame_4: 0.4956, debug_std_frame_5: 0.5565, loss_rl: -0.1385, loss_critic: 1.2575, loss_rl_bc: 0.0245, il_score: 0.6007, rl_score: 0.5648, prev_frame_loss_waypoint_0: 0.2115, prev_frame_loss_rl_bc_0: 0.0248, loss: 1.6093, grad_norm: 60.4754, il_score_sum: 61.4564, rl_score_sum: 63.1755, score_diff: -1.7191, il_win: 75.0000, rl_win: 135.1250
2025-09-24 08:02:49,899 - mmdet - INFO - Epoch [10][780/3517]	lr: 3.458e-05, eta: 11:35:44, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0205, loss_waypoint: 0.2228, debug_std_frame_0: 0.2477, debug_std_frame_1: 0.2897, debug_std_frame_2: 0.3466, debug_std_frame_3: 0.4106, debug_std_frame_4: 0.4777, debug_std_frame_5: 0.5391, loss_rl: -0.2139, loss_critic: 1.3815, loss_rl_bc: 0.0192, il_score: 0.6163, rl_score: 0.6339, prev_frame_loss_waypoint_0: 0.2144, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.6616, grad_norm: 40.6900, il_score_sum: 61.4564, rl_score_sum: 63.1755, score_diff: -1.7191, il_win: 75.0000, rl_win: 135.1250
2025-09-24 08:03:05,912 - mmdet - INFO - Epoch [10][800/3517]	lr: 3.458e-05, eta: 11:35:27, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2100, debug_std_frame_0: 0.2418, debug_std_frame_1: 0.2741, debug_std_frame_2: 0.3285, debug_std_frame_3: 0.3960, debug_std_frame_4: 0.4640, debug_std_frame_5: 0.5217, loss_rl: -0.2213, loss_critic: 1.1873, loss_rl_bc: 0.0162, il_score: 0.6467, rl_score: 0.6550, prev_frame_loss_waypoint_0: 0.1903, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4138, grad_norm: 52.5155, il_score_sum: 61.4564, rl_score_sum: 63.1755, score_diff: -1.7191, il_win: 75.0000, rl_win: 135.1250
2025-09-24 08:03:21,886 - mmdet - INFO - Epoch [10][820/3517]	lr: 3.458e-05, eta: 11:35:11, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0197, loss_waypoint: 0.1933, debug_std_frame_0: 0.2378, debug_std_frame_1: 0.2673, debug_std_frame_2: 0.3203, debug_std_frame_3: 0.3827, debug_std_frame_4: 0.4501, debug_std_frame_5: 0.5120, loss_rl: -0.2330, loss_critic: 1.4908, loss_rl_bc: 0.0171, il_score: 0.6198, rl_score: 0.6196, prev_frame_loss_waypoint_0: 0.1987, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.7048, grad_norm: 49.0344, il_score_sum: 61.4564, rl_score_sum: 63.1755, score_diff: -1.7191, il_win: 75.0000, rl_win: 135.1250
2025-09-24 08:03:37,898 - mmdet - INFO - Epoch [10][840/3517]	lr: 3.458e-05, eta: 11:34:55, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.1783, debug_std_frame_0: 0.2532, debug_std_frame_1: 0.2818, debug_std_frame_2: 0.3286, debug_std_frame_3: 0.3852, debug_std_frame_4: 0.4458, debug_std_frame_5: 0.5029, loss_rl: -0.2194, loss_critic: 1.2855, loss_rl_bc: 0.0149, il_score: 0.6750, rl_score: 0.6426, prev_frame_loss_waypoint_0: 0.2148, prev_frame_loss_rl_bc_0: 0.0257, loss: 1.5218, grad_norm: 59.8236, il_score_sum: 61.4564, rl_score_sum: 63.1755, score_diff: -1.7191, il_win: 75.0000, rl_win: 135.1250
2025-09-24 08:03:54,019 - mmdet - INFO - Epoch [10][860/3517]	lr: 3.458e-05, eta: 11:34:39, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.2016, debug_std_frame_0: 0.2581, debug_std_frame_1: 0.2862, debug_std_frame_2: 0.3345, debug_std_frame_3: 0.3903, debug_std_frame_4: 0.4466, debug_std_frame_5: 0.5011, loss_rl: -0.2950, loss_critic: 1.1176, loss_rl_bc: 0.0121, il_score: 0.6758, rl_score: 0.6813, prev_frame_loss_waypoint_0: 0.2015, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.2710, grad_norm: 44.5354, il_score_sum: 61.7123, rl_score_sum: 63.1505, score_diff: -1.4382, il_win: 75.0000, rl_win: 135.4444
2025-09-24 08:04:09,962 - mmdet - INFO - Epoch [10][880/3517]	lr: 3.458e-05, eta: 11:34:23, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0208, loss_waypoint: 0.2424, debug_std_frame_0: 0.2575, debug_std_frame_1: 0.2901, debug_std_frame_2: 0.3421, debug_std_frame_3: 0.4025, debug_std_frame_4: 0.4638, debug_std_frame_5: 0.5227, loss_rl: -0.2166, loss_critic: 1.4699, loss_rl_bc: 0.0183, il_score: 0.5709, rl_score: 0.6200, prev_frame_loss_waypoint_0: 0.2633, prev_frame_loss_rl_bc_0: 0.0244, loss: 1.8224, grad_norm: 63.8385, il_score_sum: 61.7123, rl_score_sum: 63.1505, score_diff: -1.4382, il_win: 75.0000, rl_win: 135.4444
2025-09-24 08:04:25,928 - mmdet - INFO - Epoch [10][900/3517]	lr: 3.458e-05, eta: 11:34:07, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1635, debug_std_frame_0: 0.2463, debug_std_frame_1: 0.2739, debug_std_frame_2: 0.3214, debug_std_frame_3: 0.3779, debug_std_frame_4: 0.4359, debug_std_frame_5: 0.4899, loss_rl: -0.2340, loss_critic: 1.4608, loss_rl_bc: 0.0144, il_score: 0.6445, rl_score: 0.6433, prev_frame_loss_waypoint_0: 0.1978, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.6436, grad_norm: 59.0289, il_score_sum: 61.7123, rl_score_sum: 63.1505, score_diff: -1.4382, il_win: 75.0000, rl_win: 135.4444
2025-09-24 08:04:41,846 - mmdet - INFO - Epoch [10][920/3517]	lr: 3.458e-05, eta: 11:33:50, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.1978, debug_std_frame_0: 0.2507, debug_std_frame_1: 0.2762, debug_std_frame_2: 0.3198, debug_std_frame_3: 0.3709, debug_std_frame_4: 0.4233, debug_std_frame_5: 0.4742, loss_rl: -0.2143, loss_critic: 1.6230, loss_rl_bc: 0.0174, il_score: 0.6133, rl_score: 0.6265, prev_frame_loss_waypoint_0: 0.2190, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.8793, grad_norm: 69.7069, il_score_sum: 61.7123, rl_score_sum: 63.1505, score_diff: -1.4382, il_win: 75.0000, rl_win: 135.4444
2025-09-24 08:04:57,823 - mmdet - INFO - Epoch [10][940/3517]	lr: 3.458e-05, eta: 11:33:34, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.2080, debug_std_frame_0: 0.2753, debug_std_frame_1: 0.3037, debug_std_frame_2: 0.3514, debug_std_frame_3: 0.4050, debug_std_frame_4: 0.4607, debug_std_frame_5: 0.5143, loss_rl: -0.2484, loss_critic: 1.2325, loss_rl_bc: 0.0185, il_score: 0.6340, rl_score: 0.6471, prev_frame_loss_waypoint_0: 0.2269, prev_frame_loss_rl_bc_0: 0.0207, loss: 1.4791, grad_norm: 47.0573, il_score_sum: 61.7123, rl_score_sum: 63.1505, score_diff: -1.4382, il_win: 75.0000, rl_win: 135.4444
2025-09-24 08:05:13,893 - mmdet - INFO - Epoch [10][960/3517]	lr: 3.458e-05, eta: 11:33:18, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.1854, debug_std_frame_0: 0.2724, debug_std_frame_1: 0.3009, debug_std_frame_2: 0.3472, debug_std_frame_3: 0.3981, debug_std_frame_4: 0.4516, debug_std_frame_5: 0.5030, loss_rl: -0.2281, loss_critic: 1.1844, loss_rl_bc: 0.0159, il_score: 0.6853, rl_score: 0.6520, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.4120, grad_norm: 61.5548, il_score_sum: 61.7974, rl_score_sum: 63.2572, score_diff: -1.4598, il_win: 75.0000, rl_win: 135.8000
2025-09-24 08:05:29,730 - mmdet - INFO - Epoch [10][980/3517]	lr: 3.458e-05, eta: 11:33:02, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.2193, debug_std_frame_0: 0.2725, debug_std_frame_1: 0.3030, debug_std_frame_2: 0.3530, debug_std_frame_3: 0.4084, debug_std_frame_4: 0.4647, debug_std_frame_5: 0.5220, loss_rl: -0.2550, loss_critic: 1.2400, loss_rl_bc: 0.0186, il_score: 0.6271, rl_score: 0.6469, prev_frame_loss_waypoint_0: 0.2161, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.4805, grad_norm: 63.9949, il_score_sum: 61.7974, rl_score_sum: 63.2572, score_diff: -1.4598, il_win: 75.0000, rl_win: 135.8000
2025-09-24 08:05:45,649 - mmdet - INFO - Epoch [10][1000/3517]	lr: 3.458e-05, eta: 11:32:45, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.1772, debug_std_frame_0: 0.2766, debug_std_frame_1: 0.3032, debug_std_frame_2: 0.3484, debug_std_frame_3: 0.3974, debug_std_frame_4: 0.4509, debug_std_frame_5: 0.5073, loss_rl: -0.2537, loss_critic: 1.4384, loss_rl_bc: 0.0110, il_score: 0.6348, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.2169, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.6287, grad_norm: 51.6307, il_score_sum: 61.7974, rl_score_sum: 63.2572, score_diff: -1.4598, il_win: 75.0000, rl_win: 135.8000
2025-09-24 08:06:01,480 - mmdet - INFO - Epoch [10][1020/3517]	lr: 3.458e-05, eta: 11:32:29, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.1893, debug_std_frame_0: 0.2595, debug_std_frame_1: 0.2885, debug_std_frame_2: 0.3371, debug_std_frame_3: 0.3896, debug_std_frame_4: 0.4460, debug_std_frame_5: 0.5021, loss_rl: -0.2074, loss_critic: 1.8266, loss_rl_bc: 0.0181, il_score: 0.6240, rl_score: 0.6147, prev_frame_loss_waypoint_0: 0.2109, prev_frame_loss_rl_bc_0: 0.0218, loss: 2.0800, grad_norm: 58.1966, il_score_sum: 61.7974, rl_score_sum: 63.2572, score_diff: -1.4598, il_win: 75.0000, rl_win: 135.8000
2025-09-24 08:06:17,238 - mmdet - INFO - Epoch [10][1040/3517]	lr: 3.458e-05, eta: 11:32:12, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0220, loss_waypoint: 0.1997, debug_std_frame_0: 0.2642, debug_std_frame_1: 0.2937, debug_std_frame_2: 0.3400, debug_std_frame_3: 0.3922, debug_std_frame_4: 0.4479, debug_std_frame_5: 0.5026, loss_rl: -0.2305, loss_critic: 1.3543, loss_rl_bc: 0.0211, il_score: 0.6340, rl_score: 0.6408, prev_frame_loss_waypoint_0: 0.2024, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.5872, grad_norm: 54.8768, il_score_sum: 61.7974, rl_score_sum: 63.2572, score_diff: -1.4598, il_win: 75.0000, rl_win: 135.8000
2025-09-24 08:06:33,311 - mmdet - INFO - Epoch [10][1060/3517]	lr: 3.458e-05, eta: 11:31:56, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.2287, debug_std_frame_0: 0.2635, debug_std_frame_1: 0.2924, debug_std_frame_2: 0.3404, debug_std_frame_3: 0.3933, debug_std_frame_4: 0.4498, debug_std_frame_5: 0.5060, loss_rl: -0.2307, loss_critic: 1.4718, loss_rl_bc: 0.0216, il_score: 0.5739, rl_score: 0.6325, prev_frame_loss_waypoint_0: 0.2220, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.7475, grad_norm: 51.5781, il_score_sum: 61.9830, rl_score_sum: 63.3490, score_diff: -1.3660, il_win: 75.0000, rl_win: 136.0909
2025-09-24 08:06:49,185 - mmdet - INFO - Epoch [10][1080/3517]	lr: 3.458e-05, eta: 11:31:40, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.1848, debug_std_frame_0: 0.2569, debug_std_frame_1: 0.2841, debug_std_frame_2: 0.3342, debug_std_frame_3: 0.3884, debug_std_frame_4: 0.4480, debug_std_frame_5: 0.5109, loss_rl: -0.1854, loss_critic: 1.4949, loss_rl_bc: 0.0150, il_score: 0.6361, rl_score: 0.6340, prev_frame_loss_waypoint_0: 0.2052, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.7561, grad_norm: 44.3749, il_score_sum: 61.9830, rl_score_sum: 63.3490, score_diff: -1.3660, il_win: 75.0000, rl_win: 136.0909
2025-09-24 08:07:05,108 - mmdet - INFO - Epoch [10][1100/3517]	lr: 3.458e-05, eta: 11:31:24, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0203, loss_waypoint: 0.2443, debug_std_frame_0: 0.2624, debug_std_frame_1: 0.2940, debug_std_frame_2: 0.3491, debug_std_frame_3: 0.4054, debug_std_frame_4: 0.4666, debug_std_frame_5: 0.5264, loss_rl: -0.1684, loss_critic: 1.2420, loss_rl_bc: 0.0275, il_score: 0.5946, rl_score: 0.6141, prev_frame_loss_waypoint_0: 0.2369, prev_frame_loss_rl_bc_0: 0.0254, loss: 1.6280, grad_norm: 74.0093, il_score_sum: 61.9830, rl_score_sum: 63.3490, score_diff: -1.3660, il_win: 75.0000, rl_win: 136.0909
2025-09-24 08:07:20,941 - mmdet - INFO - Epoch [10][1120/3517]	lr: 3.458e-05, eta: 11:31:07, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2234, debug_std_frame_0: 0.2788, debug_std_frame_1: 0.3076, debug_std_frame_2: 0.3587, debug_std_frame_3: 0.4106, debug_std_frame_4: 0.4679, debug_std_frame_5: 0.5260, loss_rl: -0.1752, loss_critic: 1.4184, loss_rl_bc: 0.0221, il_score: 0.6164, rl_score: 0.6133, prev_frame_loss_waypoint_0: 0.2317, prev_frame_loss_rl_bc_0: 0.0265, loss: 1.7715, grad_norm: 58.6387, il_score_sum: 61.9830, rl_score_sum: 63.3490, score_diff: -1.3660, il_win: 75.0000, rl_win: 136.0909
2025-09-24 08:07:36,878 - mmdet - INFO - Epoch [10][1140/3517]	lr: 3.458e-05, eta: 11:30:51, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1937, debug_std_frame_0: 0.2749, debug_std_frame_1: 0.2992, debug_std_frame_2: 0.3462, debug_std_frame_3: 0.3988, debug_std_frame_4: 0.4600, debug_std_frame_5: 0.5215, loss_rl: -0.2274, loss_critic: 1.3721, loss_rl_bc: 0.0194, il_score: 0.6415, rl_score: 0.6336, prev_frame_loss_waypoint_0: 0.1975, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.5950, grad_norm: 49.3168, il_score_sum: 61.9830, rl_score_sum: 63.3490, score_diff: -1.3660, il_win: 75.0000, rl_win: 136.0909
2025-09-24 08:07:52,775 - mmdet - INFO - Epoch [10][1160/3517]	lr: 3.458e-05, eta: 11:30:35, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1887, debug_std_frame_0: 0.2685, debug_std_frame_1: 0.2942, debug_std_frame_2: 0.3412, debug_std_frame_3: 0.3898, debug_std_frame_4: 0.4498, debug_std_frame_5: 0.5082, loss_rl: -0.1987, loss_critic: 1.6391, loss_rl_bc: 0.0202, il_score: 0.6554, rl_score: 0.5985, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.8914, grad_norm: 49.0687, il_score_sum: 61.9423, rl_score_sum: 63.2309, score_diff: -1.2886, il_win: 75.0000, rl_win: 136.3333
2025-09-24 08:08:08,650 - mmdet - INFO - Epoch [10][1180/3517]	lr: 3.458e-05, eta: 11:30:18, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2234, debug_std_frame_0: 0.2761, debug_std_frame_1: 0.3044, debug_std_frame_2: 0.3553, debug_std_frame_3: 0.4085, debug_std_frame_4: 0.4702, debug_std_frame_5: 0.5312, loss_rl: -0.2261, loss_critic: 1.2884, loss_rl_bc: 0.0152, il_score: 0.5901, rl_score: 0.6295, prev_frame_loss_waypoint_0: 0.2553, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.5979, grad_norm: 61.4684, il_score_sum: 61.9423, rl_score_sum: 63.2309, score_diff: -1.2886, il_win: 75.0000, rl_win: 136.3333
2025-09-24 08:08:24,516 - mmdet - INFO - Epoch [10][1200/3517]	lr: 3.458e-05, eta: 11:30:02, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.1995, debug_std_frame_0: 0.2655, debug_std_frame_1: 0.2940, debug_std_frame_2: 0.3484, debug_std_frame_3: 0.4024, debug_std_frame_4: 0.4622, debug_std_frame_5: 0.5232, loss_rl: -0.2452, loss_critic: 1.5001, loss_rl_bc: 0.0147, il_score: 0.6127, rl_score: 0.6409, prev_frame_loss_waypoint_0: 0.2241, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.7317, grad_norm: 57.1258, il_score_sum: 61.9423, rl_score_sum: 63.2309, score_diff: -1.2886, il_win: 75.0000, rl_win: 136.3333
2025-09-24 08:08:40,513 - mmdet - INFO - Epoch [10][1220/3517]	lr: 3.458e-05, eta: 11:29:46, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.2072, debug_std_frame_0: 0.2492, debug_std_frame_1: 0.2740, debug_std_frame_2: 0.3250, debug_std_frame_3: 0.3756, debug_std_frame_4: 0.4327, debug_std_frame_5: 0.4927, loss_rl: -0.2643, loss_critic: 1.5417, loss_rl_bc: 0.0154, il_score: 0.5938, rl_score: 0.6244, prev_frame_loss_waypoint_0: 0.2446, prev_frame_loss_rl_bc_0: 0.0181, loss: 1.7849, grad_norm: 67.8270, il_score_sum: 61.9423, rl_score_sum: 63.2309, score_diff: -1.2886, il_win: 75.0000, rl_win: 136.3333
2025-09-24 08:08:56,312 - mmdet - INFO - Epoch [10][1240/3517]	lr: 3.458e-05, eta: 11:29:29, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.2191, debug_std_frame_0: 0.2601, debug_std_frame_1: 0.2914, debug_std_frame_2: 0.3474, debug_std_frame_3: 0.4033, debug_std_frame_4: 0.4655, debug_std_frame_5: 0.5263, loss_rl: -0.2872, loss_critic: 1.7588, loss_rl_bc: 0.0234, il_score: 0.6062, rl_score: 0.6241, prev_frame_loss_waypoint_0: 0.2358, prev_frame_loss_rl_bc_0: 0.0237, loss: 1.9973, grad_norm: 47.7632, il_score_sum: 61.9423, rl_score_sum: 63.2309, score_diff: -1.2886, il_win: 75.0000, rl_win: 136.3333
2025-09-24 08:09:12,445 - mmdet - INFO - Epoch [10][1260/3517]	lr: 3.458e-05, eta: 11:29:13, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2112, debug_std_frame_0: 0.2638, debug_std_frame_1: 0.3016, debug_std_frame_2: 0.3587, debug_std_frame_3: 0.4197, debug_std_frame_4: 0.4844, debug_std_frame_5: 0.5461, loss_rl: -0.2162, loss_critic: 1.4121, loss_rl_bc: 0.0228, il_score: 0.6317, rl_score: 0.6231, prev_frame_loss_waypoint_0: 0.2159, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.6879, grad_norm: 54.1850, il_score_sum: 61.8741, rl_score_sum: 63.1833, score_diff: -1.3092, il_win: 75.0000, rl_win: 136.6154
2025-09-24 08:09:28,356 - mmdet - INFO - Epoch [10][1280/3517]	lr: 3.458e-05, eta: 11:28:57, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2720, debug_std_frame_0: 0.2573, debug_std_frame_1: 0.2930, debug_std_frame_2: 0.3504, debug_std_frame_3: 0.4097, debug_std_frame_4: 0.4756, debug_std_frame_5: 0.5408, loss_rl: -0.2333, loss_critic: 1.2753, loss_rl_bc: 0.0178, il_score: 0.5355, rl_score: 0.6216, prev_frame_loss_waypoint_0: 0.2963, prev_frame_loss_rl_bc_0: 0.0299, loss: 1.6797, grad_norm: 87.9636, il_score_sum: 61.8741, rl_score_sum: 63.1833, score_diff: -1.3092, il_win: 75.0000, rl_win: 136.6154
2025-09-24 08:09:44,074 - mmdet - INFO - Epoch [10][1300/3517]	lr: 3.458e-05, eta: 11:28:41, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1820, debug_std_frame_0: 0.2598, debug_std_frame_1: 0.2919, debug_std_frame_2: 0.3453, debug_std_frame_3: 0.4043, debug_std_frame_4: 0.4649, debug_std_frame_5: 0.5211, loss_rl: -0.2551, loss_critic: 1.4681, loss_rl_bc: 0.0116, il_score: 0.6222, rl_score: 0.6535, prev_frame_loss_waypoint_0: 0.2091, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.6513, grad_norm: 55.6452, il_score_sum: 61.8741, rl_score_sum: 63.1833, score_diff: -1.3092, il_win: 75.0000, rl_win: 136.6154
2025-09-24 08:09:59,822 - mmdet - INFO - Epoch [10][1320/3517]	lr: 3.458e-05, eta: 11:28:24, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.1983, debug_std_frame_0: 0.2593, debug_std_frame_1: 0.2936, debug_std_frame_2: 0.3487, debug_std_frame_3: 0.4092, debug_std_frame_4: 0.4720, debug_std_frame_5: 0.5312, loss_rl: -0.2208, loss_critic: 1.3626, loss_rl_bc: 0.0160, il_score: 0.6332, rl_score: 0.6356, prev_frame_loss_waypoint_0: 0.2366, prev_frame_loss_rl_bc_0: 0.0229, loss: 1.6358, grad_norm: 67.1678, il_score_sum: 61.8741, rl_score_sum: 63.1833, score_diff: -1.3092, il_win: 75.0000, rl_win: 136.6154
2025-09-24 08:10:15,920 - mmdet - INFO - Epoch [10][1340/3517]	lr: 3.458e-05, eta: 11:28:08, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0212, loss_waypoint: 0.2044, debug_std_frame_0: 0.2394, debug_std_frame_1: 0.2719, debug_std_frame_2: 0.3267, debug_std_frame_3: 0.3874, debug_std_frame_4: 0.4507, debug_std_frame_5: 0.5095, loss_rl: -0.2348, loss_critic: 1.1022, loss_rl_bc: 0.0110, il_score: 0.6202, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.2449, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.3677, grad_norm: 58.4105, il_score_sum: 61.8741, rl_score_sum: 63.1833, score_diff: -1.3092, il_win: 75.0000, rl_win: 136.6154
2025-09-24 08:10:31,985 - mmdet - INFO - Epoch [10][1360/3517]	lr: 3.458e-05, eta: 11:27:52, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.1987, debug_std_frame_0: 0.2349, debug_std_frame_1: 0.2627, debug_std_frame_2: 0.3139, debug_std_frame_3: 0.3720, debug_std_frame_4: 0.4352, debug_std_frame_5: 0.4949, loss_rl: -0.2017, loss_critic: 1.2969, loss_rl_bc: 0.0150, il_score: 0.6210, rl_score: 0.6359, prev_frame_loss_waypoint_0: 0.1929, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.5383, grad_norm: 53.3955, il_score_sum: 61.7729, rl_score_sum: 63.2279, score_diff: -1.4550, il_win: 75.0000, rl_win: 136.9286
2025-09-24 08:10:47,747 - mmdet - INFO - Epoch [10][1380/3517]	lr: 3.458e-05, eta: 11:27:35, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0210, loss_waypoint: 0.1830, debug_std_frame_0: 0.2297, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3127, debug_std_frame_3: 0.3737, debug_std_frame_4: 0.4388, debug_std_frame_5: 0.5014, loss_rl: -0.2102, loss_critic: 1.1934, loss_rl_bc: 0.0113, il_score: 0.6397, rl_score: 0.6350, prev_frame_loss_waypoint_0: 0.2086, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.4211, grad_norm: 56.0715, il_score_sum: 61.7729, rl_score_sum: 63.2279, score_diff: -1.4550, il_win: 75.0000, rl_win: 136.9286
2025-09-24 08:11:03,583 - mmdet - INFO - Epoch [10][1400/3517]	lr: 3.458e-05, eta: 11:27:19, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.1932, debug_std_frame_0: 0.2255, debug_std_frame_1: 0.2532, debug_std_frame_2: 0.2987, debug_std_frame_3: 0.3535, debug_std_frame_4: 0.4127, debug_std_frame_5: 0.4725, loss_rl: -0.2273, loss_critic: 1.7824, loss_rl_bc: 0.0124, il_score: 0.5738, rl_score: 0.6204, prev_frame_loss_waypoint_0: 0.2076, prev_frame_loss_rl_bc_0: 0.0169, loss: 2.0083, grad_norm: 60.6828, il_score_sum: 61.7729, rl_score_sum: 63.2279, score_diff: -1.4550, il_win: 75.0000, rl_win: 136.9286
2025-09-24 08:11:19,477 - mmdet - INFO - Epoch [10][1420/3517]	lr: 3.458e-05, eta: 11:27:03, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1980, debug_std_frame_0: 0.2456, debug_std_frame_1: 0.2743, debug_std_frame_2: 0.3218, debug_std_frame_3: 0.3777, debug_std_frame_4: 0.4402, debug_std_frame_5: 0.5042, loss_rl: -0.1822, loss_critic: 1.5667, loss_rl_bc: 0.0244, il_score: 0.6148, rl_score: 0.5974, prev_frame_loss_waypoint_0: 0.2052, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.8557, grad_norm: 44.7004, il_score_sum: 61.7729, rl_score_sum: 63.2279, score_diff: -1.4550, il_win: 75.0000, rl_win: 136.9286
2025-09-24 08:11:35,362 - mmdet - INFO - Epoch [10][1440/3517]	lr: 3.458e-05, eta: 11:26:46, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.1873, debug_std_frame_0: 0.2459, debug_std_frame_1: 0.2755, debug_std_frame_2: 0.3253, debug_std_frame_3: 0.3843, debug_std_frame_4: 0.4493, debug_std_frame_5: 0.5210, loss_rl: -0.2470, loss_critic: 1.3771, loss_rl_bc: 0.0135, il_score: 0.6630, rl_score: 0.6801, prev_frame_loss_waypoint_0: 0.2070, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.5722, grad_norm: 61.5941, il_score_sum: 61.7729, rl_score_sum: 63.2279, score_diff: -1.4550, il_win: 75.0000, rl_win: 136.9286
2025-09-24 08:11:51,307 - mmdet - INFO - Epoch [10][1460/3517]	lr: 3.458e-05, eta: 11:26:30, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.1950, debug_std_frame_0: 0.2539, debug_std_frame_1: 0.2824, debug_std_frame_2: 0.3258, debug_std_frame_3: 0.3786, debug_std_frame_4: 0.4335, debug_std_frame_5: 0.4958, loss_rl: -0.1681, loss_critic: 1.4797, loss_rl_bc: 0.0223, il_score: 0.6360, rl_score: 0.6082, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0273, loss: 1.7970, grad_norm: 81.1505, il_score_sum: 61.8181, rl_score_sum: 63.2335, score_diff: -1.4154, il_win: 75.0000, rl_win: 137.2000
2025-09-24 08:12:07,265 - mmdet - INFO - Epoch [10][1480/3517]	lr: 3.458e-05, eta: 11:26:14, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1730, debug_std_frame_0: 0.2650, debug_std_frame_1: 0.2941, debug_std_frame_2: 0.3399, debug_std_frame_3: 0.3925, debug_std_frame_4: 0.4494, debug_std_frame_5: 0.5094, loss_rl: -0.2445, loss_critic: 1.4290, loss_rl_bc: 0.0118, il_score: 0.6035, rl_score: 0.6130, prev_frame_loss_waypoint_0: 0.2114, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.6218, grad_norm: 44.8769, il_score_sum: 61.8181, rl_score_sum: 63.2335, score_diff: -1.4154, il_win: 75.0000, rl_win: 137.2000
2025-09-24 08:12:23,350 - mmdet - INFO - Epoch [10][1500/3517]	lr: 3.458e-05, eta: 11:25:58, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2236, debug_std_frame_0: 0.2669, debug_std_frame_1: 0.2945, debug_std_frame_2: 0.3352, debug_std_frame_3: 0.3855, debug_std_frame_4: 0.4425, debug_std_frame_5: 0.5061, loss_rl: -0.1716, loss_critic: 1.3487, loss_rl_bc: 0.0252, il_score: 0.6071, rl_score: 0.6079, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.6959, grad_norm: 61.0624, il_score_sum: 61.8181, rl_score_sum: 63.2335, score_diff: -1.4154, il_win: 75.0000, rl_win: 137.2000
2025-09-24 08:12:39,207 - mmdet - INFO - Epoch [10][1520/3517]	lr: 3.458e-05, eta: 11:25:41, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1873, debug_std_frame_0: 0.2819, debug_std_frame_1: 0.3082, debug_std_frame_2: 0.3492, debug_std_frame_3: 0.3949, debug_std_frame_4: 0.4460, debug_std_frame_5: 0.5017, loss_rl: -0.2305, loss_critic: 1.4132, loss_rl_bc: 0.0243, il_score: 0.6326, rl_score: 0.6038, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0269, loss: 1.6533, grad_norm: 53.0523, il_score_sum: 61.8181, rl_score_sum: 63.2335, score_diff: -1.4154, il_win: 75.0000, rl_win: 137.2000
2025-09-24 08:12:55,069 - mmdet - INFO - Epoch [10][1540/3517]	lr: 3.458e-05, eta: 11:25:25, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2066, debug_std_frame_0: 0.3111, debug_std_frame_1: 0.3369, debug_std_frame_2: 0.3757, debug_std_frame_3: 0.4196, debug_std_frame_4: 0.4693, debug_std_frame_5: 0.5279, loss_rl: -0.1841, loss_critic: 1.4058, loss_rl_bc: 0.0210, il_score: 0.6191, rl_score: 0.6124, prev_frame_loss_waypoint_0: 0.2305, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.7282, grad_norm: 73.0275, il_score_sum: 61.8181, rl_score_sum: 63.2335, score_diff: -1.4154, il_win: 75.0000, rl_win: 137.2000
2025-09-24 08:13:11,068 - mmdet - INFO - Epoch [10][1560/3517]	lr: 3.458e-05, eta: 11:25:09, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2280, debug_std_frame_0: 0.3231, debug_std_frame_1: 0.3494, debug_std_frame_2: 0.3908, debug_std_frame_3: 0.4348, debug_std_frame_4: 0.4857, debug_std_frame_5: 0.5403, loss_rl: -0.2282, loss_critic: 1.2427, loss_rl_bc: 0.0234, il_score: 0.5875, rl_score: 0.6112, prev_frame_loss_waypoint_0: 0.2590, prev_frame_loss_rl_bc_0: 0.0314, loss: 1.5780, grad_norm: 63.0839, il_score_sum: 61.8198, rl_score_sum: 63.1068, score_diff: -1.2870, il_win: 75.0000, rl_win: 137.4375
2025-09-24 08:13:26,882 - mmdet - INFO - Epoch [10][1580/3517]	lr: 3.458e-05, eta: 11:24:53, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.2044, debug_std_frame_0: 0.2944, debug_std_frame_1: 0.3265, debug_std_frame_2: 0.3713, debug_std_frame_3: 0.4179, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5388, loss_rl: -0.1816, loss_critic: 1.4756, loss_rl_bc: 0.0185, il_score: 0.5874, rl_score: 0.5826, prev_frame_loss_waypoint_0: 0.2193, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.7750, grad_norm: 66.0019, il_score_sum: 61.8198, rl_score_sum: 63.1068, score_diff: -1.2870, il_win: 75.0000, rl_win: 137.4375
2025-09-24 08:13:42,682 - mmdet - INFO - Epoch [10][1600/3517]	lr: 3.458e-05, eta: 11:24:36, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0229, loss_waypoint: 0.2317, debug_std_frame_0: 0.2840, debug_std_frame_1: 0.3202, debug_std_frame_2: 0.3721, debug_std_frame_3: 0.4285, debug_std_frame_4: 0.4951, debug_std_frame_5: 0.5589, loss_rl: -0.2186, loss_critic: 1.4196, loss_rl_bc: 0.0190, il_score: 0.6060, rl_score: 0.6390, prev_frame_loss_waypoint_0: 0.2492, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.7466, grad_norm: 72.1783, il_score_sum: 61.8198, rl_score_sum: 63.1068, score_diff: -1.2870, il_win: 75.0000, rl_win: 137.4375
2025-09-24 08:13:58,626 - mmdet - INFO - Epoch [10][1620/3517]	lr: 3.458e-05, eta: 11:24:20, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2233, debug_std_frame_0: 0.2724, debug_std_frame_1: 0.3082, debug_std_frame_2: 0.3630, debug_std_frame_3: 0.4201, debug_std_frame_4: 0.4876, debug_std_frame_5: 0.5515, loss_rl: -0.2111, loss_critic: 1.3416, loss_rl_bc: 0.0214, il_score: 0.5957, rl_score: 0.6230, prev_frame_loss_waypoint_0: 0.2426, prev_frame_loss_rl_bc_0: 0.0238, loss: 1.6631, grad_norm: 53.4220, il_score_sum: 61.8198, rl_score_sum: 63.1068, score_diff: -1.2870, il_win: 75.0000, rl_win: 137.4375
2025-09-24 08:14:14,454 - mmdet - INFO - Epoch [10][1640/3517]	lr: 3.458e-05, eta: 11:24:03, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0211, loss_waypoint: 0.2365, debug_std_frame_0: 0.2812, debug_std_frame_1: 0.3188, debug_std_frame_2: 0.3782, debug_std_frame_3: 0.4370, debug_std_frame_4: 0.5066, debug_std_frame_5: 0.5690, loss_rl: -0.1707, loss_critic: 1.3306, loss_rl_bc: 0.0225, il_score: 0.5968, rl_score: 0.6040, prev_frame_loss_waypoint_0: 0.2235, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.6849, grad_norm: 79.3046, il_score_sum: 61.8198, rl_score_sum: 63.1068, score_diff: -1.2870, il_win: 75.0000, rl_win: 137.4375
2025-09-24 08:14:30,538 - mmdet - INFO - Epoch [10][1660/3517]	lr: 3.458e-05, eta: 11:23:47, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1897, debug_std_frame_0: 0.2542, debug_std_frame_1: 0.2885, debug_std_frame_2: 0.3396, debug_std_frame_3: 0.3925, debug_std_frame_4: 0.4528, debug_std_frame_5: 0.5145, loss_rl: -0.2663, loss_critic: 1.1822, loss_rl_bc: 0.0128, il_score: 0.6606, rl_score: 0.6643, prev_frame_loss_waypoint_0: 0.2044, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.3616, grad_norm: 56.4001, il_score_sum: 61.7031, rl_score_sum: 63.0021, score_diff: -1.2990, il_win: 75.0000, rl_win: 137.7059
2025-09-24 08:14:46,414 - mmdet - INFO - Epoch [10][1680/3517]	lr: 3.458e-05, eta: 11:23:31, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1919, debug_std_frame_0: 0.2547, debug_std_frame_1: 0.2870, debug_std_frame_2: 0.3370, debug_std_frame_3: 0.3930, debug_std_frame_4: 0.4575, debug_std_frame_5: 0.5233, loss_rl: -0.2405, loss_critic: 1.2684, loss_rl_bc: 0.0189, il_score: 0.6461, rl_score: 0.6571, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.4777, grad_norm: 45.1134, il_score_sum: 61.7031, rl_score_sum: 63.0021, score_diff: -1.2990, il_win: 75.0000, rl_win: 137.7059
2025-09-24 08:15:02,314 - mmdet - INFO - Epoch [10][1700/3517]	lr: 3.458e-05, eta: 11:23:15, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.2001, debug_std_frame_0: 0.2441, debug_std_frame_1: 0.2749, debug_std_frame_2: 0.3227, debug_std_frame_3: 0.3767, debug_std_frame_4: 0.4386, debug_std_frame_5: 0.5001, loss_rl: -0.2057, loss_critic: 1.1107, loss_rl_bc: 0.0157, il_score: 0.6109, rl_score: 0.6504, prev_frame_loss_waypoint_0: 0.2220, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.3847, grad_norm: 44.3669, il_score_sum: 61.7031, rl_score_sum: 63.0021, score_diff: -1.2990, il_win: 75.0000, rl_win: 137.7059
2025-09-24 08:15:18,127 - mmdet - INFO - Epoch [10][1720/3517]	lr: 3.458e-05, eta: 11:22:58, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0212, loss_waypoint: 0.1969, debug_std_frame_0: 0.2398, debug_std_frame_1: 0.2698, debug_std_frame_2: 0.3211, debug_std_frame_3: 0.3736, debug_std_frame_4: 0.4303, debug_std_frame_5: 0.4936, loss_rl: -0.2482, loss_critic: 1.2857, loss_rl_bc: 0.0167, il_score: 0.6119, rl_score: 0.6738, prev_frame_loss_waypoint_0: 0.2058, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.4943, grad_norm: 51.3258, il_score_sum: 61.7031, rl_score_sum: 63.0021, score_diff: -1.2990, il_win: 75.0000, rl_win: 137.7059
2025-09-24 08:15:34,088 - mmdet - INFO - Epoch [10][1740/3517]	lr: 3.458e-05, eta: 11:22:42, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.2194, debug_std_frame_0: 0.2442, debug_std_frame_1: 0.2759, debug_std_frame_2: 0.3297, debug_std_frame_3: 0.3870, debug_std_frame_4: 0.4493, debug_std_frame_5: 0.5092, loss_rl: -0.1726, loss_critic: 1.2533, loss_rl_bc: 0.0205, il_score: 0.6042, rl_score: 0.6187, prev_frame_loss_waypoint_0: 0.2180, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.5824, grad_norm: 66.4451, il_score_sum: 61.7031, rl_score_sum: 63.0021, score_diff: -1.2990, il_win: 75.0000, rl_win: 137.7059
2025-09-24 08:15:50,061 - mmdet - INFO - Epoch [10][1760/3517]	lr: 3.458e-05, eta: 11:22:26, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2140, debug_std_frame_0: 0.2540, debug_std_frame_1: 0.2828, debug_std_frame_2: 0.3286, debug_std_frame_3: 0.3755, debug_std_frame_4: 0.4302, debug_std_frame_5: 0.4885, loss_rl: -0.2020, loss_critic: 1.4871, loss_rl_bc: 0.0306, il_score: 0.5994, rl_score: 0.5876, prev_frame_loss_waypoint_0: 0.2296, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.8129, grad_norm: 78.4763, il_score_sum: 61.7339, rl_score_sum: 63.1028, score_diff: -1.3690, il_win: 75.0000, rl_win: 138.0000
2025-09-24 08:16:05,846 - mmdet - INFO - Epoch [10][1780/3517]	lr: 3.458e-05, eta: 11:22:09, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1798, debug_std_frame_0: 0.2987, debug_std_frame_1: 0.3313, debug_std_frame_2: 0.3822, debug_std_frame_3: 0.4361, debug_std_frame_4: 0.4933, debug_std_frame_5: 0.5507, loss_rl: -0.1707, loss_critic: 1.2719, loss_rl_bc: 0.0267, il_score: 0.6267, rl_score: 0.5700, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.5688, grad_norm: 64.6690, il_score_sum: 61.7339, rl_score_sum: 63.1028, score_diff: -1.3690, il_win: 75.0000, rl_win: 138.0000
2025-09-24 08:16:21,648 - mmdet - INFO - Epoch [10][1800/3517]	lr: 3.458e-05, eta: 11:21:53, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.2272, debug_std_frame_0: 0.3183, debug_std_frame_1: 0.3533, debug_std_frame_2: 0.4062, debug_std_frame_3: 0.4588, debug_std_frame_4: 0.5150, debug_std_frame_5: 0.5742, loss_rl: -0.2198, loss_critic: 1.1776, loss_rl_bc: 0.0260, il_score: 0.6222, rl_score: 0.6232, prev_frame_loss_waypoint_0: 0.2425, prev_frame_loss_rl_bc_0: 0.0263, loss: 1.5041, grad_norm: 57.7656, il_score_sum: 61.7339, rl_score_sum: 63.1028, score_diff: -1.3690, il_win: 75.0000, rl_win: 138.0000
2025-09-24 08:16:37,692 - mmdet - INFO - Epoch [10][1820/3517]	lr: 3.458e-05, eta: 11:21:37, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1949, debug_std_frame_0: 0.2827, debug_std_frame_1: 0.3174, debug_std_frame_2: 0.3693, debug_std_frame_3: 0.4229, debug_std_frame_4: 0.4822, debug_std_frame_5: 0.5394, loss_rl: -0.2168, loss_critic: 1.6224, loss_rl_bc: 0.0167, il_score: 0.6228, rl_score: 0.6228, prev_frame_loss_waypoint_0: 0.2239, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.8836, grad_norm: 51.0126, il_score_sum: 61.7339, rl_score_sum: 63.1028, score_diff: -1.3690, il_win: 75.0000, rl_win: 138.0000
2025-09-24 08:16:53,506 - mmdet - INFO - Epoch [10][1840/3517]	lr: 3.458e-05, eta: 11:21:20, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1945, debug_std_frame_0: 0.2701, debug_std_frame_1: 0.2995, debug_std_frame_2: 0.3515, debug_std_frame_3: 0.4061, debug_std_frame_4: 0.4630, debug_std_frame_5: 0.5220, loss_rl: -0.2436, loss_critic: 1.1443, loss_rl_bc: 0.0123, il_score: 0.6143, rl_score: 0.6455, prev_frame_loss_waypoint_0: 0.2202, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.3643, grad_norm: 62.7074, il_score_sum: 61.7339, rl_score_sum: 63.1028, score_diff: -1.3690, il_win: 75.0000, rl_win: 138.0000
2025-09-24 08:17:09,261 - mmdet - INFO - Epoch [10][1860/3517]	lr: 3.458e-05, eta: 11:21:04, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2045, debug_std_frame_0: 0.2542, debug_std_frame_1: 0.2810, debug_std_frame_2: 0.3303, debug_std_frame_3: 0.3842, debug_std_frame_4: 0.4408, debug_std_frame_5: 0.4998, loss_rl: -0.2548, loss_critic: 1.3680, loss_rl_bc: 0.0131, il_score: 0.6385, rl_score: 0.6611, prev_frame_loss_waypoint_0: 0.2194, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.5914, grad_norm: 52.1691, il_score_sum: 61.7489, rl_score_sum: 63.0199, score_diff: -1.2710, il_win: 75.0000, rl_win: 138.2632
2025-09-24 08:17:25,016 - mmdet - INFO - Epoch [10][1880/3517]	lr: 3.458e-05, eta: 11:20:47, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.1697, debug_std_frame_0: 0.2448, debug_std_frame_1: 0.2714, debug_std_frame_2: 0.3191, debug_std_frame_3: 0.3718, debug_std_frame_4: 0.4261, debug_std_frame_5: 0.4840, loss_rl: -0.1934, loss_critic: 1.3767, loss_rl_bc: 0.0184, il_score: 0.6521, rl_score: 0.6211, prev_frame_loss_waypoint_0: 0.1783, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.5903, grad_norm: 54.4730, il_score_sum: 61.7489, rl_score_sum: 63.0199, score_diff: -1.2710, il_win: 75.0000, rl_win: 138.2632
2025-09-24 08:17:41,066 - mmdet - INFO - Epoch [10][1900/3517]	lr: 3.458e-05, eta: 11:20:31, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2148, debug_std_frame_0: 0.2615, debug_std_frame_1: 0.2950, debug_std_frame_2: 0.3433, debug_std_frame_3: 0.3965, debug_std_frame_4: 0.4531, debug_std_frame_5: 0.5128, loss_rl: -0.2511, loss_critic: 1.2723, loss_rl_bc: 0.0214, il_score: 0.6207, rl_score: 0.6340, prev_frame_loss_waypoint_0: 0.2183, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.5172, grad_norm: 46.5390, il_score_sum: 61.7489, rl_score_sum: 63.0199, score_diff: -1.2710, il_win: 75.0000, rl_win: 138.2632
2025-09-24 08:17:56,916 - mmdet - INFO - Epoch [10][1920/3517]	lr: 3.458e-05, eta: 11:20:15, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1752, debug_std_frame_0: 0.2680, debug_std_frame_1: 0.2984, debug_std_frame_2: 0.3407, debug_std_frame_3: 0.3870, debug_std_frame_4: 0.4383, debug_std_frame_5: 0.4996, loss_rl: -0.2499, loss_critic: 1.5991, loss_rl_bc: 0.0090, il_score: 0.6619, rl_score: 0.6600, prev_frame_loss_waypoint_0: 0.2110, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.7810, grad_norm: 57.3007, il_score_sum: 61.7489, rl_score_sum: 63.0199, score_diff: -1.2710, il_win: 75.0000, rl_win: 138.2632
2025-09-24 08:18:12,843 - mmdet - INFO - Epoch [10][1940/3517]	lr: 3.458e-05, eta: 11:19:59, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2109, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2816, debug_std_frame_2: 0.3332, debug_std_frame_3: 0.3877, debug_std_frame_4: 0.4435, debug_std_frame_5: 0.5056, loss_rl: -0.2749, loss_critic: 1.2987, loss_rl_bc: 0.0114, il_score: 0.5994, rl_score: 0.6661, prev_frame_loss_waypoint_0: 0.2428, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.5269, grad_norm: 63.0490, il_score_sum: 61.7489, rl_score_sum: 63.0199, score_diff: -1.2710, il_win: 75.0000, rl_win: 138.2632
2025-09-24 08:18:28,671 - mmdet - INFO - Epoch [10][1960/3517]	lr: 3.458e-05, eta: 11:19:42, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.1880, debug_std_frame_0: 0.2389, debug_std_frame_1: 0.2734, debug_std_frame_2: 0.3244, debug_std_frame_3: 0.3775, debug_std_frame_4: 0.4317, debug_std_frame_5: 0.4937, loss_rl: -0.2290, loss_critic: 1.2859, loss_rl_bc: 0.0127, il_score: 0.6220, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.1925, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.4874, grad_norm: 40.2135, il_score_sum: 61.8236, rl_score_sum: 63.0986, score_diff: -1.2750, il_win: 75.0000, rl_win: 138.5500
2025-09-24 08:18:44,784 - mmdet - INFO - Epoch [10][1980/3517]	lr: 3.458e-05, eta: 11:19:26, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0202, loss_waypoint: 0.1957, debug_std_frame_0: 0.2385, debug_std_frame_1: 0.2746, debug_std_frame_2: 0.3267, debug_std_frame_3: 0.3835, debug_std_frame_4: 0.4454, debug_std_frame_5: 0.5114, loss_rl: -0.1893, loss_critic: 1.5446, loss_rl_bc: 0.0207, il_score: 0.5863, rl_score: 0.5801, prev_frame_loss_waypoint_0: 0.2117, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.8256, grad_norm: 55.7944, il_score_sum: 61.8236, rl_score_sum: 63.0986, score_diff: -1.2750, il_win: 75.0000, rl_win: 138.5500
2025-09-24 08:19:00,736 - mmdet - INFO - Epoch [10][2000/3517]	lr: 3.458e-05, eta: 11:19:10, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0199, loss_waypoint: 0.1959, debug_std_frame_0: 0.2543, debug_std_frame_1: 0.2930, debug_std_frame_2: 0.3444, debug_std_frame_3: 0.4000, debug_std_frame_4: 0.4620, debug_std_frame_5: 0.5294, loss_rl: -0.1817, loss_critic: 1.4610, loss_rl_bc: 0.0198, il_score: 0.5966, rl_score: 0.5887, prev_frame_loss_waypoint_0: 0.2234, prev_frame_loss_rl_bc_0: 0.0244, loss: 1.7628, grad_norm: 58.0750, il_score_sum: 61.8236, rl_score_sum: 63.0986, score_diff: -1.2750, il_win: 75.0000, rl_win: 138.5500
2025-09-24 08:19:16,512 - mmdet - INFO - Epoch [10][2020/3517]	lr: 3.458e-05, eta: 11:18:54, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0195, loss_waypoint: 0.2494, debug_std_frame_0: 0.2620, debug_std_frame_1: 0.3009, debug_std_frame_2: 0.3510, debug_std_frame_3: 0.4055, debug_std_frame_4: 0.4756, debug_std_frame_5: 0.5419, loss_rl: -0.1842, loss_critic: 1.0712, loss_rl_bc: 0.0179, il_score: 0.5874, rl_score: 0.6373, prev_frame_loss_waypoint_0: 0.2686, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.4644, grad_norm: 76.4390, il_score_sum: 61.8236, rl_score_sum: 63.0986, score_diff: -1.2750, il_win: 75.0000, rl_win: 138.5500
2025-09-24 08:19:32,230 - mmdet - INFO - Epoch [10][2040/3517]	lr: 3.458e-05, eta: 11:18:37, time: 0.786, data_time: 0.011, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.2193, debug_std_frame_0: 0.2727, debug_std_frame_1: 0.3119, debug_std_frame_2: 0.3624, debug_std_frame_3: 0.4145, debug_std_frame_4: 0.4743, debug_std_frame_5: 0.5284, loss_rl: -0.1900, loss_critic: 1.4476, loss_rl_bc: 0.0261, il_score: 0.6214, rl_score: 0.5996, prev_frame_loss_waypoint_0: 0.2437, prev_frame_loss_rl_bc_0: 0.0305, loss: 1.7979, grad_norm: 63.6059, il_score_sum: 61.8236, rl_score_sum: 63.0986, score_diff: -1.2750, il_win: 75.0000, rl_win: 138.5500
2025-09-24 08:19:48,271 - mmdet - INFO - Epoch [10][2060/3517]	lr: 3.458e-05, eta: 11:18:21, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0229, loss_waypoint: 0.2255, debug_std_frame_0: 0.2942, debug_std_frame_1: 0.3287, debug_std_frame_2: 0.3723, debug_std_frame_3: 0.4176, debug_std_frame_4: 0.4694, debug_std_frame_5: 0.5202, loss_rl: -0.2481, loss_critic: 1.4892, loss_rl_bc: 0.0289, il_score: 0.6011, rl_score: 0.6088, prev_frame_loss_waypoint_0: 0.2250, prev_frame_loss_rl_bc_0: 0.0260, loss: 1.7694, grad_norm: 69.6703, il_score_sum: 61.8595, rl_score_sum: 63.1083, score_diff: -1.2489, il_win: 75.0000, rl_win: 139.1000
2025-09-24 08:20:04,231 - mmdet - INFO - Epoch [10][2080/3517]	lr: 3.458e-05, eta: 11:18:05, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.2109, debug_std_frame_0: 0.3128, debug_std_frame_1: 0.3529, debug_std_frame_2: 0.4047, debug_std_frame_3: 0.4565, debug_std_frame_4: 0.5146, debug_std_frame_5: 0.5627, loss_rl: -0.2529, loss_critic: 1.3561, loss_rl_bc: 0.0231, il_score: 0.6175, rl_score: 0.6182, prev_frame_loss_waypoint_0: 0.2327, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.6178, grad_norm: 61.7804, il_score_sum: 61.8595, rl_score_sum: 63.1083, score_diff: -1.2489, il_win: 75.0000, rl_win: 139.1000
2025-09-24 08:20:20,136 - mmdet - INFO - Epoch [10][2100/3517]	lr: 3.458e-05, eta: 11:17:49, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.1938, debug_std_frame_0: 0.2924, debug_std_frame_1: 0.3281, debug_std_frame_2: 0.3755, debug_std_frame_3: 0.4253, debug_std_frame_4: 0.4826, debug_std_frame_5: 0.5352, loss_rl: -0.2506, loss_critic: 1.0683, loss_rl_bc: 0.0112, il_score: 0.6448, rl_score: 0.6599, prev_frame_loss_waypoint_0: 0.1990, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.2558, grad_norm: 55.5039, il_score_sum: 61.8595, rl_score_sum: 63.1083, score_diff: -1.2489, il_win: 75.0000, rl_win: 139.1000
2025-09-24 08:20:35,907 - mmdet - INFO - Epoch [10][2120/3517]	lr: 3.458e-05, eta: 11:17:32, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0213, loss_waypoint: 0.2168, debug_std_frame_0: 0.2795, debug_std_frame_1: 0.3119, debug_std_frame_2: 0.3566, debug_std_frame_3: 0.4069, debug_std_frame_4: 0.4612, debug_std_frame_5: 0.5140, loss_rl: -0.2459, loss_critic: 1.4780, loss_rl_bc: 0.0142, il_score: 0.6328, rl_score: 0.6642, prev_frame_loss_waypoint_0: 0.2390, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.7403, grad_norm: 71.4702, il_score_sum: 61.8595, rl_score_sum: 63.1083, score_diff: -1.2489, il_win: 75.0000, rl_win: 139.1000
2025-09-24 08:20:51,848 - mmdet - INFO - Epoch [10][2140/3517]	lr: 3.458e-05, eta: 11:17:16, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.2393, debug_std_frame_0: 0.2458, debug_std_frame_1: 0.2848, debug_std_frame_2: 0.3382, debug_std_frame_3: 0.3926, debug_std_frame_4: 0.4521, debug_std_frame_5: 0.5042, loss_rl: -0.2559, loss_critic: 1.1442, loss_rl_bc: 0.0143, il_score: 0.5955, rl_score: 0.6419, prev_frame_loss_waypoint_0: 0.2614, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.4465, grad_norm: 67.5625, il_score_sum: 61.8595, rl_score_sum: 63.1083, score_diff: -1.2489, il_win: 75.0000, rl_win: 139.1000
2025-09-24 08:21:07,879 - mmdet - INFO - Epoch [10][2160/3517]	lr: 3.458e-05, eta: 11:17:00, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.2342, debug_std_frame_0: 0.2480, debug_std_frame_1: 0.2798, debug_std_frame_2: 0.3334, debug_std_frame_3: 0.3884, debug_std_frame_4: 0.4498, debug_std_frame_5: 0.5055, loss_rl: -0.1901, loss_critic: 1.3136, loss_rl_bc: 0.0173, il_score: 0.5982, rl_score: 0.6292, prev_frame_loss_waypoint_0: 0.2306, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.6495, grad_norm: 67.7768, il_score_sum: 61.8864, rl_score_sum: 63.2166, score_diff: -1.3302, il_win: 75.0000, rl_win: 139.7000
2025-09-24 08:21:23,587 - mmdet - INFO - Epoch [10][2180/3517]	lr: 3.458e-05, eta: 11:16:43, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0233, loss_waypoint: 0.2035, debug_std_frame_0: 0.2414, debug_std_frame_1: 0.2676, debug_std_frame_2: 0.3128, debug_std_frame_3: 0.3621, debug_std_frame_4: 0.4157, debug_std_frame_5: 0.4662, loss_rl: -0.2469, loss_critic: 1.2739, loss_rl_bc: 0.0120, il_score: 0.6361, rl_score: 0.6654, prev_frame_loss_waypoint_0: 0.2405, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.5239, grad_norm: 60.0352, il_score_sum: 61.8864, rl_score_sum: 63.2166, score_diff: -1.3302, il_win: 75.0000, rl_win: 139.7000
2025-09-24 08:21:39,472 - mmdet - INFO - Epoch [10][2200/3517]	lr: 3.458e-05, eta: 11:16:27, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.2189, debug_std_frame_0: 0.2517, debug_std_frame_1: 0.2809, debug_std_frame_2: 0.3295, debug_std_frame_3: 0.3814, debug_std_frame_4: 0.4358, debug_std_frame_5: 0.4879, loss_rl: -0.2542, loss_critic: 1.4491, loss_rl_bc: 0.0154, il_score: 0.5992, rl_score: 0.6188, prev_frame_loss_waypoint_0: 0.2323, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.7030, grad_norm: 69.6978, il_score_sum: 61.8864, rl_score_sum: 63.2166, score_diff: -1.3302, il_win: 75.0000, rl_win: 139.7000
2025-09-24 08:21:55,371 - mmdet - INFO - Epoch [10][2220/3517]	lr: 3.458e-05, eta: 11:16:11, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.2009, debug_std_frame_0: 0.2546, debug_std_frame_1: 0.2891, debug_std_frame_2: 0.3423, debug_std_frame_3: 0.3996, debug_std_frame_4: 0.4608, debug_std_frame_5: 0.5209, loss_rl: -0.2425, loss_critic: 1.1861, loss_rl_bc: 0.0142, il_score: 0.6376, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.2108, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.4078, grad_norm: 38.7882, il_score_sum: 61.8864, rl_score_sum: 63.2166, score_diff: -1.3302, il_win: 75.0000, rl_win: 139.7000
2025-09-24 08:22:11,354 - mmdet - INFO - Epoch [10][2240/3517]	lr: 3.458e-05, eta: 11:15:54, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2220, debug_std_frame_0: 0.2454, debug_std_frame_1: 0.2781, debug_std_frame_2: 0.3342, debug_std_frame_3: 0.3945, debug_std_frame_4: 0.4593, debug_std_frame_5: 0.5217, loss_rl: -0.1815, loss_critic: 1.4284, loss_rl_bc: 0.0205, il_score: 0.5948, rl_score: 0.6031, prev_frame_loss_waypoint_0: 0.2254, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.7587, grad_norm: 62.7726, il_score_sum: 61.8864, rl_score_sum: 63.2166, score_diff: -1.3302, il_win: 75.0000, rl_win: 139.7000
2025-09-24 08:22:27,443 - mmdet - INFO - Epoch [10][2260/3517]	lr: 3.458e-05, eta: 11:15:38, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2056, debug_std_frame_0: 0.2520, debug_std_frame_1: 0.2820, debug_std_frame_2: 0.3337, debug_std_frame_3: 0.3935, debug_std_frame_4: 0.4536, debug_std_frame_5: 0.5150, loss_rl: -0.1889, loss_critic: 1.2715, loss_rl_bc: 0.0189, il_score: 0.6082, rl_score: 0.6111, prev_frame_loss_waypoint_0: 0.2232, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.5747, grad_norm: 52.6432, il_score_sum: 61.8820, rl_score_sum: 63.2208, score_diff: -1.3388, il_win: 75.0000, rl_win: 140.3000
2025-09-24 08:22:43,298 - mmdet - INFO - Epoch [10][2280/3517]	lr: 3.458e-05, eta: 11:15:22, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.2208, debug_std_frame_0: 0.2703, debug_std_frame_1: 0.3010, debug_std_frame_2: 0.3509, debug_std_frame_3: 0.4084, debug_std_frame_4: 0.4691, debug_std_frame_5: 0.5320, loss_rl: -0.1261, loss_critic: 1.7138, loss_rl_bc: 0.0368, il_score: 0.5923, rl_score: 0.5549, prev_frame_loss_waypoint_0: 0.2311, prev_frame_loss_rl_bc_0: 0.0349, loss: 2.1333, grad_norm: 71.6896, il_score_sum: 61.8820, rl_score_sum: 63.2208, score_diff: -1.3388, il_win: 75.0000, rl_win: 140.3000
2025-09-24 08:22:59,416 - mmdet - INFO - Epoch [10][2300/3517]	lr: 3.458e-05, eta: 11:15:06, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.2168, debug_std_frame_0: 0.3123, debug_std_frame_1: 0.3443, debug_std_frame_2: 0.3934, debug_std_frame_3: 0.4478, debug_std_frame_4: 0.5023, debug_std_frame_5: 0.5585, loss_rl: -0.2138, loss_critic: 1.2236, loss_rl_bc: 0.0291, il_score: 0.6160, rl_score: 0.5947, prev_frame_loss_waypoint_0: 0.2311, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.5388, grad_norm: 60.7024, il_score_sum: 61.8820, rl_score_sum: 63.2208, score_diff: -1.3388, il_win: 75.0000, rl_win: 140.3000
2025-09-24 08:23:15,579 - mmdet - INFO - Epoch [10][2320/3517]	lr: 3.458e-05, eta: 11:14:50, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.1902, debug_std_frame_0: 0.3034, debug_std_frame_1: 0.3351, debug_std_frame_2: 0.3818, debug_std_frame_3: 0.4327, debug_std_frame_4: 0.4842, debug_std_frame_5: 0.5366, loss_rl: -0.2793, loss_critic: 1.3997, loss_rl_bc: 0.0122, il_score: 0.6350, rl_score: 0.6581, prev_frame_loss_waypoint_0: 0.2170, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.5779, grad_norm: 54.3520, il_score_sum: 61.8820, rl_score_sum: 63.2208, score_diff: -1.3388, il_win: 75.0000, rl_win: 140.3000
2025-09-24 08:23:31,495 - mmdet - INFO - Epoch [10][2340/3517]	lr: 3.458e-05, eta: 11:14:34, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.1940, debug_std_frame_0: 0.2755, debug_std_frame_1: 0.3060, debug_std_frame_2: 0.3526, debug_std_frame_3: 0.4028, debug_std_frame_4: 0.4552, debug_std_frame_5: 0.5090, loss_rl: -0.2776, loss_critic: 1.4854, loss_rl_bc: 0.0135, il_score: 0.6405, rl_score: 0.6616, prev_frame_loss_waypoint_0: 0.2132, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.6653, grad_norm: 62.0895, il_score_sum: 61.8820, rl_score_sum: 63.2208, score_diff: -1.3388, il_win: 75.0000, rl_win: 140.3000
2025-09-24 08:23:47,470 - mmdet - INFO - Epoch [10][2360/3517]	lr: 3.458e-05, eta: 11:14:18, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0209, loss_waypoint: 0.1940, debug_std_frame_0: 0.2594, debug_std_frame_1: 0.2847, debug_std_frame_2: 0.3238, debug_std_frame_3: 0.3725, debug_std_frame_4: 0.4237, debug_std_frame_5: 0.4737, loss_rl: -0.2251, loss_critic: 1.4307, loss_rl_bc: 0.0204, il_score: 0.6626, rl_score: 0.6376, prev_frame_loss_waypoint_0: 0.1935, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.6500, grad_norm: 50.3468, il_score_sum: 61.9691, rl_score_sum: 63.1547, score_diff: -1.1856, il_win: 75.0000, rl_win: 140.8500
2025-09-24 08:24:03,635 - mmdet - INFO - Epoch [10][2380/3517]	lr: 3.458e-05, eta: 11:14:02, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0200, loss_waypoint: 0.2070, debug_std_frame_0: 0.2620, debug_std_frame_1: 0.2912, debug_std_frame_2: 0.3369, debug_std_frame_3: 0.3925, debug_std_frame_4: 0.4459, debug_std_frame_5: 0.5011, loss_rl: -0.2191, loss_critic: 1.4332, loss_rl_bc: 0.0168, il_score: 0.6119, rl_score: 0.6393, prev_frame_loss_waypoint_0: 0.2348, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.7112, grad_norm: 62.7640, il_score_sum: 61.9691, rl_score_sum: 63.1547, score_diff: -1.1856, il_win: 75.0000, rl_win: 140.8500
2025-09-24 08:24:19,507 - mmdet - INFO - Epoch [10][2400/3517]	lr: 3.458e-05, eta: 11:13:45, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0201, loss_waypoint: 0.1959, debug_std_frame_0: 0.2634, debug_std_frame_1: 0.2957, debug_std_frame_2: 0.3435, debug_std_frame_3: 0.3991, debug_std_frame_4: 0.4559, debug_std_frame_5: 0.5131, loss_rl: -0.2649, loss_critic: 1.5027, loss_rl_bc: 0.0162, il_score: 0.6311, rl_score: 0.6431, prev_frame_loss_waypoint_0: 0.2155, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.7024, grad_norm: 48.4383, il_score_sum: 61.9691, rl_score_sum: 63.1547, score_diff: -1.1856, il_win: 75.0000, rl_win: 140.8500
2025-09-24 08:24:35,490 - mmdet - INFO - Epoch [10][2420/3517]	lr: 3.458e-05, eta: 11:13:29, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0201, loss_waypoint: 0.2208, debug_std_frame_0: 0.2592, debug_std_frame_1: 0.2885, debug_std_frame_2: 0.3350, debug_std_frame_3: 0.3902, debug_std_frame_4: 0.4446, debug_std_frame_5: 0.4979, loss_rl: -0.2092, loss_critic: 1.1853, loss_rl_bc: 0.0264, il_score: 0.6299, rl_score: 0.6396, prev_frame_loss_waypoint_0: 0.2350, prev_frame_loss_rl_bc_0: 0.0282, loss: 1.5066, grad_norm: 54.3490, il_score_sum: 61.9691, rl_score_sum: 63.1547, score_diff: -1.1856, il_win: 75.0000, rl_win: 140.8500
2025-09-24 08:24:51,395 - mmdet - INFO - Epoch [10][2440/3517]	lr: 3.458e-05, eta: 11:13:13, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0198, loss_waypoint: 0.1931, debug_std_frame_0: 0.2716, debug_std_frame_1: 0.2988, debug_std_frame_2: 0.3438, debug_std_frame_3: 0.3968, debug_std_frame_4: 0.4522, debug_std_frame_5: 0.5079, loss_rl: -0.2680, loss_critic: 1.3624, loss_rl_bc: 0.0116, il_score: 0.6621, rl_score: 0.6685, prev_frame_loss_waypoint_0: 0.2020, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.5350, grad_norm: 55.1935, il_score_sum: 61.9691, rl_score_sum: 63.1547, score_diff: -1.1856, il_win: 75.0000, rl_win: 140.8500
2025-09-24 08:25:07,564 - mmdet - INFO - Epoch [10][2460/3517]	lr: 3.458e-05, eta: 11:12:57, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.1890, debug_std_frame_0: 0.2606, debug_std_frame_1: 0.2893, debug_std_frame_2: 0.3371, debug_std_frame_3: 0.3950, debug_std_frame_4: 0.4505, debug_std_frame_5: 0.5044, loss_rl: -0.2535, loss_critic: 1.3147, loss_rl_bc: 0.0119, il_score: 0.6420, rl_score: 0.6544, prev_frame_loss_waypoint_0: 0.2169, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.5165, grad_norm: 41.5845, il_score_sum: 62.0014, rl_score_sum: 63.1872, score_diff: -1.1858, il_win: 75.0000, rl_win: 141.4000
2025-09-24 08:25:23,498 - mmdet - INFO - Epoch [10][2480/3517]	lr: 3.458e-05, eta: 11:12:41, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2069, debug_std_frame_0: 0.2386, debug_std_frame_1: 0.2704, debug_std_frame_2: 0.3246, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4514, debug_std_frame_5: 0.5133, loss_rl: -0.1980, loss_critic: 1.6074, loss_rl_bc: 0.0186, il_score: 0.5715, rl_score: 0.6126, prev_frame_loss_waypoint_0: 0.2354, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.9088, grad_norm: 72.7481, il_score_sum: 62.0014, rl_score_sum: 63.1872, score_diff: -1.1858, il_win: 75.0000, rl_win: 141.4000
2025-09-24 08:25:39,463 - mmdet - INFO - Epoch [10][2500/3517]	lr: 3.458e-05, eta: 11:12:25, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.1899, debug_std_frame_0: 0.2259, debug_std_frame_1: 0.2550, debug_std_frame_2: 0.3095, debug_std_frame_3: 0.3719, debug_std_frame_4: 0.4358, debug_std_frame_5: 0.4965, loss_rl: -0.2270, loss_critic: 1.4124, loss_rl_bc: 0.0101, il_score: 0.6276, rl_score: 0.6552, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.6287, grad_norm: 46.1047, il_score_sum: 62.0014, rl_score_sum: 63.1872, score_diff: -1.1858, il_win: 75.0000, rl_win: 141.4000
2025-09-24 08:25:55,369 - mmdet - INFO - Epoch [10][2520/3517]	lr: 3.458e-05, eta: 11:12:08, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0211, loss_waypoint: 0.1850, debug_std_frame_0: 0.2267, debug_std_frame_1: 0.2546, debug_std_frame_2: 0.3119, debug_std_frame_3: 0.3744, debug_std_frame_4: 0.4345, debug_std_frame_5: 0.4959, loss_rl: -0.2561, loss_critic: 1.4484, loss_rl_bc: 0.0191, il_score: 0.6270, rl_score: 0.6303, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.6195, grad_norm: 46.2398, il_score_sum: 62.0014, rl_score_sum: 63.1872, score_diff: -1.1858, il_win: 75.0000, rl_win: 141.4000
2025-09-24 08:26:11,453 - mmdet - INFO - Epoch [10][2540/3517]	lr: 3.458e-05, eta: 11:11:52, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2083, debug_std_frame_0: 0.2373, debug_std_frame_1: 0.2676, debug_std_frame_2: 0.3248, debug_std_frame_3: 0.3821, debug_std_frame_4: 0.4419, debug_std_frame_5: 0.5053, loss_rl: -0.1596, loss_critic: 1.0782, loss_rl_bc: 0.0174, il_score: 0.5912, rl_score: 0.6369, prev_frame_loss_waypoint_0: 0.2299, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.4119, grad_norm: 63.8813, il_score_sum: 62.0014, rl_score_sum: 63.1872, score_diff: -1.1858, il_win: 75.0000, rl_win: 141.4000
2025-09-24 08:26:27,667 - mmdet - INFO - Epoch [10][2560/3517]	lr: 3.458e-05, eta: 11:11:37, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2141, debug_std_frame_0: 0.2522, debug_std_frame_1: 0.2812, debug_std_frame_2: 0.3325, debug_std_frame_3: 0.3850, debug_std_frame_4: 0.4409, debug_std_frame_5: 0.5010, loss_rl: -0.2407, loss_critic: 1.1809, loss_rl_bc: 0.0127, il_score: 0.6310, rl_score: 0.6616, prev_frame_loss_waypoint_0: 0.2272, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.4343, grad_norm: 62.8308, il_score_sum: 62.0166, rl_score_sum: 63.2354, score_diff: -1.2188, il_win: 75.0000, rl_win: 141.9500
2025-09-24 08:26:43,637 - mmdet - INFO - Epoch [10][2580/3517]	lr: 3.458e-05, eta: 11:11:20, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1975, debug_std_frame_0: 0.2415, debug_std_frame_1: 0.2725, debug_std_frame_2: 0.3276, debug_std_frame_3: 0.3823, debug_std_frame_4: 0.4415, debug_std_frame_5: 0.4997, loss_rl: -0.1977, loss_critic: 1.3704, loss_rl_bc: 0.0188, il_score: 0.6007, rl_score: 0.5961, prev_frame_loss_waypoint_0: 0.2217, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.6538, grad_norm: 53.3825, il_score_sum: 62.0166, rl_score_sum: 63.2354, score_diff: -1.2188, il_win: 75.0000, rl_win: 141.9500
2025-09-24 08:26:59,650 - mmdet - INFO - Epoch [10][2600/3517]	lr: 3.458e-05, eta: 11:11:04, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2044, debug_std_frame_0: 0.2493, debug_std_frame_1: 0.2811, debug_std_frame_2: 0.3370, debug_std_frame_3: 0.3948, debug_std_frame_4: 0.4517, debug_std_frame_5: 0.5128, loss_rl: -0.2316, loss_critic: 1.2792, loss_rl_bc: 0.0113, il_score: 0.6450, rl_score: 0.6714, prev_frame_loss_waypoint_0: 0.2319, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.5368, grad_norm: 79.9556, il_score_sum: 62.0166, rl_score_sum: 63.2354, score_diff: -1.2188, il_win: 75.0000, rl_win: 141.9500
2025-09-24 08:27:15,634 - mmdet - INFO - Epoch [10][2620/3517]	lr: 3.458e-05, eta: 11:10:48, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2257, debug_std_frame_0: 0.2475, debug_std_frame_1: 0.2743, debug_std_frame_2: 0.3230, debug_std_frame_3: 0.3758, debug_std_frame_4: 0.4303, debug_std_frame_5: 0.4860, loss_rl: -0.2784, loss_critic: 1.2338, loss_rl_bc: 0.0148, il_score: 0.6047, rl_score: 0.6581, prev_frame_loss_waypoint_0: 0.2486, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.4881, grad_norm: 73.1116, il_score_sum: 62.0166, rl_score_sum: 63.2354, score_diff: -1.2188, il_win: 75.0000, rl_win: 141.9500
2025-09-24 08:27:31,700 - mmdet - INFO - Epoch [10][2640/3517]	lr: 3.458e-05, eta: 11:10:32, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2641, debug_std_frame_0: 0.2514, debug_std_frame_1: 0.2864, debug_std_frame_2: 0.3412, debug_std_frame_3: 0.4000, debug_std_frame_4: 0.4626, debug_std_frame_5: 0.5267, loss_rl: -0.1475, loss_critic: 1.1160, loss_rl_bc: 0.0244, il_score: 0.5813, rl_score: 0.5990, prev_frame_loss_waypoint_0: 0.2897, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.6004, grad_norm: 90.3205, il_score_sum: 62.0166, rl_score_sum: 63.2354, score_diff: -1.2188, il_win: 75.0000, rl_win: 141.9500
2025-09-24 08:27:47,827 - mmdet - INFO - Epoch [10][2660/3517]	lr: 3.458e-05, eta: 11:10:16, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2210, debug_std_frame_0: 0.2621, debug_std_frame_1: 0.2941, debug_std_frame_2: 0.3511, debug_std_frame_3: 0.4149, debug_std_frame_4: 0.4765, debug_std_frame_5: 0.5396, loss_rl: -0.2189, loss_critic: 1.3378, loss_rl_bc: 0.0194, il_score: 0.6150, rl_score: 0.6240, prev_frame_loss_waypoint_0: 0.2153, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.6169, grad_norm: 48.9646, il_score_sum: 61.9327, rl_score_sum: 63.1992, score_diff: -1.2665, il_win: 75.0000, rl_win: 142.5000
2025-09-24 08:28:03,592 - mmdet - INFO - Epoch [10][2680/3517]	lr: 3.458e-05, eta: 11:10:00, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2171, debug_std_frame_0: 0.2660, debug_std_frame_1: 0.2953, debug_std_frame_2: 0.3484, debug_std_frame_3: 0.4074, debug_std_frame_4: 0.4665, debug_std_frame_5: 0.5311, loss_rl: -0.1982, loss_critic: 1.1765, loss_rl_bc: 0.0221, il_score: 0.6378, rl_score: 0.6156, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.4890, grad_norm: 45.0885, il_score_sum: 61.9327, rl_score_sum: 63.1992, score_diff: -1.2665, il_win: 75.0000, rl_win: 142.5000
2025-09-24 08:28:19,469 - mmdet - INFO - Epoch [10][2700/3517]	lr: 3.458e-05, eta: 11:09:43, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2257, debug_std_frame_0: 0.2743, debug_std_frame_1: 0.3044, debug_std_frame_2: 0.3617, debug_std_frame_3: 0.4222, debug_std_frame_4: 0.4858, debug_std_frame_5: 0.5537, loss_rl: -0.1915, loss_critic: 1.2463, loss_rl_bc: 0.0289, il_score: 0.6051, rl_score: 0.5934, prev_frame_loss_waypoint_0: 0.2557, prev_frame_loss_rl_bc_0: 0.0334, loss: 1.6252, grad_norm: 57.3598, il_score_sum: 61.9327, rl_score_sum: 63.1992, score_diff: -1.2665, il_win: 75.0000, rl_win: 142.5000
2025-09-24 08:28:35,269 - mmdet - INFO - Epoch [10][2720/3517]	lr: 3.458e-05, eta: 11:09:27, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1922, debug_std_frame_0: 0.2678, debug_std_frame_1: 0.3035, debug_std_frame_2: 0.3620, debug_std_frame_3: 0.4185, debug_std_frame_4: 0.4793, debug_std_frame_5: 0.5387, loss_rl: -0.1928, loss_critic: 1.3324, loss_rl_bc: 0.0217, il_score: 0.6750, rl_score: 0.6502, prev_frame_loss_waypoint_0: 0.2109, prev_frame_loss_rl_bc_0: 0.0243, loss: 1.6136, grad_norm: 49.4891, il_score_sum: 61.9327, rl_score_sum: 63.1992, score_diff: -1.2665, il_win: 75.0000, rl_win: 142.5000
2025-09-24 08:28:51,152 - mmdet - INFO - Epoch [10][2740/3517]	lr: 3.458e-05, eta: 11:09:11, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2307, debug_std_frame_0: 0.2984, debug_std_frame_1: 0.3279, debug_std_frame_2: 0.3804, debug_std_frame_3: 0.4319, debug_std_frame_4: 0.4883, debug_std_frame_5: 0.5461, loss_rl: -0.2299, loss_critic: 1.1656, loss_rl_bc: 0.0169, il_score: 0.5997, rl_score: 0.6335, prev_frame_loss_waypoint_0: 0.2612, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.4928, grad_norm: 72.4997, il_score_sum: 61.9327, rl_score_sum: 63.1992, score_diff: -1.2665, il_win: 75.0000, rl_win: 142.5000
2025-09-24 08:29:06,982 - mmdet - INFO - Epoch [10][2760/3517]	lr: 3.458e-05, eta: 11:08:54, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2363, debug_std_frame_0: 0.2871, debug_std_frame_1: 0.3216, debug_std_frame_2: 0.3792, debug_std_frame_3: 0.4364, debug_std_frame_4: 0.4958, debug_std_frame_5: 0.5563, loss_rl: -0.2080, loss_critic: 1.2710, loss_rl_bc: 0.0213, il_score: 0.6099, rl_score: 0.6264, prev_frame_loss_waypoint_0: 0.2617, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.6296, grad_norm: 64.6562, il_score_sum: 61.9544, rl_score_sum: 63.0709, score_diff: -1.1165, il_win: 75.0000, rl_win: 143.0000
2025-09-24 08:29:22,833 - mmdet - INFO - Epoch [10][2780/3517]	lr: 3.458e-05, eta: 11:08:38, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2307, debug_std_frame_0: 0.2631, debug_std_frame_1: 0.2927, debug_std_frame_2: 0.3451, debug_std_frame_3: 0.3991, debug_std_frame_4: 0.4573, debug_std_frame_5: 0.5206, loss_rl: -0.2384, loss_critic: 1.2053, loss_rl_bc: 0.0143, il_score: 0.5727, rl_score: 0.6035, prev_frame_loss_waypoint_0: 0.2534, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.5074, grad_norm: 84.3131, il_score_sum: 61.9544, rl_score_sum: 63.0709, score_diff: -1.1165, il_win: 75.0000, rl_win: 143.0000
2025-09-24 08:29:38,923 - mmdet - INFO - Epoch [10][2800/3517]	lr: 3.458e-05, eta: 11:08:22, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2257, debug_std_frame_0: 0.2587, debug_std_frame_1: 0.2866, debug_std_frame_2: 0.3345, debug_std_frame_3: 0.3853, debug_std_frame_4: 0.4396, debug_std_frame_5: 0.4996, loss_rl: -0.2310, loss_critic: 1.3705, loss_rl_bc: 0.0191, il_score: 0.5926, rl_score: 0.6351, prev_frame_loss_waypoint_0: 0.2535, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.6865, grad_norm: 74.3890, il_score_sum: 61.9544, rl_score_sum: 63.0709, score_diff: -1.1165, il_win: 75.0000, rl_win: 143.0000
2025-09-24 08:29:54,876 - mmdet - INFO - Epoch [10][2820/3517]	lr: 3.458e-05, eta: 11:08:06, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2662, debug_std_frame_0: 0.2770, debug_std_frame_1: 0.3053, debug_std_frame_2: 0.3551, debug_std_frame_3: 0.4061, debug_std_frame_4: 0.4613, debug_std_frame_5: 0.5225, loss_rl: -0.2229, loss_critic: 1.5931, loss_rl_bc: 0.0186, il_score: 0.5472, rl_score: 0.6138, prev_frame_loss_waypoint_0: 0.2855, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.9867, grad_norm: 78.1572, il_score_sum: 61.9544, rl_score_sum: 63.0709, score_diff: -1.1165, il_win: 75.0000, rl_win: 143.0000
2025-09-24 08:30:10,559 - mmdet - INFO - Epoch [10][2840/3517]	lr: 3.458e-05, eta: 11:07:49, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2320, debug_std_frame_0: 0.2635, debug_std_frame_1: 0.2956, debug_std_frame_2: 0.3496, debug_std_frame_3: 0.4048, debug_std_frame_4: 0.4639, debug_std_frame_5: 0.5244, loss_rl: -0.2504, loss_critic: 1.4440, loss_rl_bc: 0.0165, il_score: 0.5860, rl_score: 0.6539, prev_frame_loss_waypoint_0: 0.2427, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.7239, grad_norm: 59.9745, il_score_sum: 61.9544, rl_score_sum: 63.0709, score_diff: -1.1165, il_win: 75.0000, rl_win: 143.0000
2025-09-24 08:30:26,438 - mmdet - INFO - Epoch [10][2860/3517]	lr: 3.458e-05, eta: 11:07:33, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.2094, debug_std_frame_0: 0.2469, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3328, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4488, debug_std_frame_5: 0.5102, loss_rl: -0.2074, loss_critic: 1.4904, loss_rl_bc: 0.0140, il_score: 0.5825, rl_score: 0.6480, prev_frame_loss_waypoint_0: 0.2307, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.7815, grad_norm: 59.3169, il_score_sum: 61.6820, rl_score_sum: 63.0587, score_diff: -1.3767, il_win: 75.0000, rl_win: 143.5500
2025-09-24 08:30:42,189 - mmdet - INFO - Epoch [10][2880/3517]	lr: 3.458e-05, eta: 11:07:16, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1874, debug_std_frame_0: 0.2402, debug_std_frame_1: 0.2649, debug_std_frame_2: 0.3129, debug_std_frame_3: 0.3620, debug_std_frame_4: 0.4154, debug_std_frame_5: 0.4711, loss_rl: -0.2378, loss_critic: 1.3105, loss_rl_bc: 0.0131, il_score: 0.6227, rl_score: 0.6510, prev_frame_loss_waypoint_0: 0.2045, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.5210, grad_norm: 38.6296, il_score_sum: 61.6820, rl_score_sum: 63.0587, score_diff: -1.3767, il_win: 75.0000, rl_win: 143.5500
2025-09-24 08:30:58,021 - mmdet - INFO - Epoch [10][2900/3517]	lr: 3.458e-05, eta: 11:07:00, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2003, debug_std_frame_0: 0.2363, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3180, debug_std_frame_3: 0.3752, debug_std_frame_4: 0.4353, debug_std_frame_5: 0.4971, loss_rl: -0.2066, loss_critic: 1.2027, loss_rl_bc: 0.0131, il_score: 0.6261, rl_score: 0.6607, prev_frame_loss_waypoint_0: 0.2147, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.4630, grad_norm: 60.5477, il_score_sum: 61.6820, rl_score_sum: 63.0587, score_diff: -1.3767, il_win: 75.0000, rl_win: 143.5500
2025-09-24 08:31:13,824 - mmdet - INFO - Epoch [10][2920/3517]	lr: 3.458e-05, eta: 11:06:43, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1897, debug_std_frame_0: 0.2386, debug_std_frame_1: 0.2642, debug_std_frame_2: 0.3132, debug_std_frame_3: 0.3702, debug_std_frame_4: 0.4305, debug_std_frame_5: 0.4925, loss_rl: -0.1646, loss_critic: 1.2054, loss_rl_bc: 0.0150, il_score: 0.6523, rl_score: 0.6493, prev_frame_loss_waypoint_0: 0.2132, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.5044, grad_norm: 70.6802, il_score_sum: 61.6820, rl_score_sum: 63.0587, score_diff: -1.3767, il_win: 75.0000, rl_win: 143.5500
2025-09-24 08:31:29,582 - mmdet - INFO - Epoch [10][2940/3517]	lr: 3.458e-05, eta: 11:06:27, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.2005, debug_std_frame_0: 0.2424, debug_std_frame_1: 0.2658, debug_std_frame_2: 0.3109, debug_std_frame_3: 0.3610, debug_std_frame_4: 0.4129, debug_std_frame_5: 0.4694, loss_rl: -0.2252, loss_critic: 1.2279, loss_rl_bc: 0.0117, il_score: 0.6340, rl_score: 0.6501, prev_frame_loss_waypoint_0: 0.2214, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.4744, grad_norm: 77.8659, il_score_sum: 61.6820, rl_score_sum: 63.0587, score_diff: -1.3767, il_win: 75.0000, rl_win: 143.5500
2025-09-24 08:31:45,567 - mmdet - INFO - Epoch [10][2960/3517]	lr: 3.458e-05, eta: 11:06:11, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2251, debug_std_frame_0: 0.2424, debug_std_frame_1: 0.2680, debug_std_frame_2: 0.3146, debug_std_frame_3: 0.3691, debug_std_frame_4: 0.4266, debug_std_frame_5: 0.4846, loss_rl: -0.2335, loss_critic: 1.2662, loss_rl_bc: 0.0170, il_score: 0.6019, rl_score: 0.6338, prev_frame_loss_waypoint_0: 0.2211, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.5366, grad_norm: 58.7032, il_score_sum: 61.6637, rl_score_sum: 63.0988, score_diff: -1.4351, il_win: 75.0000, rl_win: 144.1000
2025-09-24 08:32:01,480 - mmdet - INFO - Epoch [10][2980/3517]	lr: 3.458e-05, eta: 11:05:55, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2116, debug_std_frame_0: 0.2448, debug_std_frame_1: 0.2736, debug_std_frame_2: 0.3259, debug_std_frame_3: 0.3884, debug_std_frame_4: 0.4564, debug_std_frame_5: 0.5171, loss_rl: -0.1748, loss_critic: 1.4619, loss_rl_bc: 0.0299, il_score: 0.5999, rl_score: 0.5769, prev_frame_loss_waypoint_0: 0.2335, prev_frame_loss_rl_bc_0: 0.0318, loss: 1.8184, grad_norm: 72.3419, il_score_sum: 61.6637, rl_score_sum: 63.0988, score_diff: -1.4351, il_win: 75.0000, rl_win: 144.1000
2025-09-24 08:32:17,329 - mmdet - INFO - Epoch [10][3000/3517]	lr: 3.458e-05, eta: 11:05:38, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2589, debug_std_frame_0: 0.2759, debug_std_frame_1: 0.3086, debug_std_frame_2: 0.3587, debug_std_frame_3: 0.4172, debug_std_frame_4: 0.4817, debug_std_frame_5: 0.5410, loss_rl: -0.2307, loss_critic: 1.2065, loss_rl_bc: 0.0245, il_score: 0.5644, rl_score: 0.5981, prev_frame_loss_waypoint_0: 0.2596, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.5691, grad_norm: 53.9312, il_score_sum: 61.6637, rl_score_sum: 63.0988, score_diff: -1.4351, il_win: 75.0000, rl_win: 144.1000
2025-09-24 08:32:33,152 - mmdet - INFO - Epoch [10][3020/3517]	lr: 3.458e-05, eta: 11:05:22, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2345, debug_std_frame_0: 0.2689, debug_std_frame_1: 0.3011, debug_std_frame_2: 0.3522, debug_std_frame_3: 0.4099, debug_std_frame_4: 0.4729, debug_std_frame_5: 0.5356, loss_rl: -0.2266, loss_critic: 1.5121, loss_rl_bc: 0.0222, il_score: 0.6057, rl_score: 0.6393, prev_frame_loss_waypoint_0: 0.2326, prev_frame_loss_rl_bc_0: 0.0207, loss: 1.8211, grad_norm: 62.9047, il_score_sum: 61.6637, rl_score_sum: 63.0988, score_diff: -1.4351, il_win: 75.0000, rl_win: 144.1000
2025-09-24 08:32:49,153 - mmdet - INFO - Epoch [10][3040/3517]	lr: 3.458e-05, eta: 11:05:06, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.2351, debug_std_frame_0: 0.2596, debug_std_frame_1: 0.2921, debug_std_frame_2: 0.3430, debug_std_frame_3: 0.4034, debug_std_frame_4: 0.4721, debug_std_frame_5: 0.5373, loss_rl: -0.1321, loss_critic: 1.2586, loss_rl_bc: 0.0226, il_score: 0.5513, rl_score: 0.6071, prev_frame_loss_waypoint_0: 0.2728, prev_frame_loss_rl_bc_0: 0.0290, loss: 1.7123, grad_norm: 96.9093, il_score_sum: 61.6637, rl_score_sum: 63.0988, score_diff: -1.4351, il_win: 75.0000, rl_win: 144.1000
2025-09-24 08:33:05,074 - mmdet - INFO - Epoch [10][3060/3517]	lr: 3.458e-05, eta: 11:04:49, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2019, debug_std_frame_0: 0.2672, debug_std_frame_1: 0.2926, debug_std_frame_2: 0.3370, debug_std_frame_3: 0.3936, debug_std_frame_4: 0.4554, debug_std_frame_5: 0.5173, loss_rl: -0.2105, loss_critic: 1.3945, loss_rl_bc: 0.0158, il_score: 0.6256, rl_score: 0.6296, prev_frame_loss_waypoint_0: 0.2089, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.6522, grad_norm: 51.0526, il_score_sum: 61.4084, rl_score_sum: 62.9433, score_diff: -1.5349, il_win: 75.0000, rl_win: 144.7000
2025-09-24 08:33:20,906 - mmdet - INFO - Epoch [10][3080/3517]	lr: 3.458e-05, eta: 11:04:33, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1837, debug_std_frame_0: 0.2436, debug_std_frame_1: 0.2681, debug_std_frame_2: 0.3131, debug_std_frame_3: 0.3689, debug_std_frame_4: 0.4302, debug_std_frame_5: 0.4921, loss_rl: -0.2213, loss_critic: 1.2091, loss_rl_bc: 0.0118, il_score: 0.6369, rl_score: 0.6575, prev_frame_loss_waypoint_0: 0.1990, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.4218, grad_norm: 42.5474, il_score_sum: 61.4084, rl_score_sum: 62.9433, score_diff: -1.5349, il_win: 75.0000, rl_win: 144.7000
2025-09-24 08:33:36,688 - mmdet - INFO - Epoch [10][3100/3517]	lr: 3.458e-05, eta: 11:04:17, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1784, debug_std_frame_0: 0.2367, debug_std_frame_1: 0.2590, debug_std_frame_2: 0.3014, debug_std_frame_3: 0.3546, debug_std_frame_4: 0.4140, debug_std_frame_5: 0.4728, loss_rl: -0.2461, loss_critic: 1.5559, loss_rl_bc: 0.0119, il_score: 0.6444, rl_score: 0.6569, prev_frame_loss_waypoint_0: 0.2070, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.7470, grad_norm: 64.2213, il_score_sum: 61.4084, rl_score_sum: 62.9433, score_diff: -1.5349, il_win: 75.0000, rl_win: 144.7000
2025-09-24 08:33:52,637 - mmdet - INFO - Epoch [10][3120/3517]	lr: 3.458e-05, eta: 11:04:00, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1986, debug_std_frame_0: 0.2398, debug_std_frame_1: 0.2626, debug_std_frame_2: 0.3094, debug_std_frame_3: 0.3628, debug_std_frame_4: 0.4221, debug_std_frame_5: 0.4793, loss_rl: -0.2791, loss_critic: 1.0297, loss_rl_bc: 0.0133, il_score: 0.6235, rl_score: 0.6584, prev_frame_loss_waypoint_0: 0.2092, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.2080, grad_norm: 50.5071, il_score_sum: 61.4084, rl_score_sum: 62.9433, score_diff: -1.5349, il_win: 75.0000, rl_win: 144.7000
2025-09-24 08:34:08,425 - mmdet - INFO - Epoch [10][3140/3517]	lr: 3.458e-05, eta: 11:03:44, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1947, debug_std_frame_0: 0.2420, debug_std_frame_1: 0.2658, debug_std_frame_2: 0.3137, debug_std_frame_3: 0.3682, debug_std_frame_4: 0.4294, debug_std_frame_5: 0.4932, loss_rl: -0.1954, loss_critic: 1.4658, loss_rl_bc: 0.0165, il_score: 0.6290, rl_score: 0.6258, prev_frame_loss_waypoint_0: 0.2021, prev_frame_loss_rl_bc_0: 0.0173, loss: 1.7281, grad_norm: 52.6255, il_score_sum: 61.4084, rl_score_sum: 62.9433, score_diff: -1.5349, il_win: 75.0000, rl_win: 144.7000
2025-09-24 08:34:24,197 - mmdet - INFO - Epoch [10][3160/3517]	lr: 3.458e-05, eta: 11:03:28, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2154, debug_std_frame_0: 0.2587, debug_std_frame_1: 0.2889, debug_std_frame_2: 0.3425, debug_std_frame_3: 0.4039, debug_std_frame_4: 0.4717, debug_std_frame_5: 0.5352, loss_rl: -0.1842, loss_critic: 1.6355, loss_rl_bc: 0.0367, il_score: 0.5826, rl_score: 0.5821, prev_frame_loss_waypoint_0: 0.2129, prev_frame_loss_rl_bc_0: 0.0363, loss: 1.9791, grad_norm: 68.4261, il_score_sum: 61.4391, rl_score_sum: 63.0253, score_diff: -1.5861, il_win: 75.0000, rl_win: 145.3500
2025-09-24 08:34:39,941 - mmdet - INFO - Epoch [10][3180/3517]	lr: 3.458e-05, eta: 11:03:11, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1811, debug_std_frame_0: 0.2759, debug_std_frame_1: 0.3082, debug_std_frame_2: 0.3614, debug_std_frame_3: 0.4194, debug_std_frame_4: 0.4806, debug_std_frame_5: 0.5400, loss_rl: -0.2090, loss_critic: 1.4831, loss_rl_bc: 0.0147, il_score: 0.6087, rl_score: 0.6257, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.7048, grad_norm: 53.4857, il_score_sum: 61.4391, rl_score_sum: 63.0253, score_diff: -1.5861, il_win: 75.0000, rl_win: 145.3500
2025-09-24 08:34:55,788 - mmdet - INFO - Epoch [10][3200/3517]	lr: 3.458e-05, eta: 11:02:55, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.2063, debug_std_frame_0: 0.2750, debug_std_frame_1: 0.3029, debug_std_frame_2: 0.3529, debug_std_frame_3: 0.4023, debug_std_frame_4: 0.4567, debug_std_frame_5: 0.5099, loss_rl: -0.2153, loss_critic: 1.6059, loss_rl_bc: 0.0173, il_score: 0.6071, rl_score: 0.6463, prev_frame_loss_waypoint_0: 0.2267, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.8867, grad_norm: 68.4997, il_score_sum: 61.4391, rl_score_sum: 63.0253, score_diff: -1.5861, il_win: 75.0000, rl_win: 145.3500
2025-09-24 08:35:11,636 - mmdet - INFO - Epoch [10][3220/3517]	lr: 3.458e-05, eta: 11:02:38, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.2192, debug_std_frame_0: 0.2803, debug_std_frame_1: 0.3077, debug_std_frame_2: 0.3581, debug_std_frame_3: 0.4107, debug_std_frame_4: 0.4682, debug_std_frame_5: 0.5270, loss_rl: -0.1770, loss_critic: 1.4807, loss_rl_bc: 0.0439, il_score: 0.6193, rl_score: 0.5678, prev_frame_loss_waypoint_0: 0.2434, prev_frame_loss_rl_bc_0: 0.0445, loss: 1.8839, grad_norm: 67.0604, il_score_sum: 61.4391, rl_score_sum: 63.0253, score_diff: -1.5861, il_win: 75.0000, rl_win: 145.3500
2025-09-24 08:35:27,362 - mmdet - INFO - Epoch [10][3240/3517]	lr: 3.458e-05, eta: 11:02:22, time: 0.786, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.2568, debug_std_frame_0: 0.3031, debug_std_frame_1: 0.3321, debug_std_frame_2: 0.3818, debug_std_frame_3: 0.4317, debug_std_frame_4: 0.4862, debug_std_frame_5: 0.5459, loss_rl: -0.1998, loss_critic: 1.3124, loss_rl_bc: 0.0288, il_score: 0.5820, rl_score: 0.6062, prev_frame_loss_waypoint_0: 0.2613, prev_frame_loss_rl_bc_0: 0.0289, loss: 1.7166, grad_norm: 83.4458, il_score_sum: 61.4391, rl_score_sum: 63.0253, score_diff: -1.5861, il_win: 75.0000, rl_win: 145.3500
2025-09-24 08:35:43,160 - mmdet - INFO - Epoch [10][3260/3517]	lr: 3.458e-05, eta: 11:02:05, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.2356, debug_std_frame_0: 0.3197, debug_std_frame_1: 0.3482, debug_std_frame_2: 0.3962, debug_std_frame_3: 0.4432, debug_std_frame_4: 0.4920, debug_std_frame_5: 0.5447, loss_rl: -0.2680, loss_critic: 1.4079, loss_rl_bc: 0.0195, il_score: 0.5864, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2325, prev_frame_loss_rl_bc_0: 0.0221, loss: 1.6763, grad_norm: 61.4873, il_score_sum: 61.3977, rl_score_sum: 62.9651, score_diff: -1.5674, il_win: 75.0000, rl_win: 146.0000
2025-09-24 08:35:59,018 - mmdet - INFO - Epoch [10][3280/3517]	lr: 3.458e-05, eta: 11:01:49, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2014, debug_std_frame_0: 0.3209, debug_std_frame_1: 0.3489, debug_std_frame_2: 0.3998, debug_std_frame_3: 0.4488, debug_std_frame_4: 0.5021, debug_std_frame_5: 0.5613, loss_rl: -0.2418, loss_critic: 1.1776, loss_rl_bc: 0.0187, il_score: 0.6402, rl_score: 0.6371, prev_frame_loss_waypoint_0: 0.2057, prev_frame_loss_rl_bc_0: 0.0181, loss: 1.4053, grad_norm: 52.7637, il_score_sum: 61.3977, rl_score_sum: 62.9651, score_diff: -1.5674, il_win: 75.0000, rl_win: 146.0000
2025-09-24 08:36:14,762 - mmdet - INFO - Epoch [10][3300/3517]	lr: 3.458e-05, eta: 11:01:33, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.2041, debug_std_frame_0: 0.2879, debug_std_frame_1: 0.3140, debug_std_frame_2: 0.3618, debug_std_frame_3: 0.4092, debug_std_frame_4: 0.4586, debug_std_frame_5: 0.5140, loss_rl: -0.2243, loss_critic: 1.2071, loss_rl_bc: 0.0205, il_score: 0.6521, rl_score: 0.6171, prev_frame_loss_waypoint_0: 0.2302, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.4898, grad_norm: 60.1775, il_score_sum: 61.3977, rl_score_sum: 62.9651, score_diff: -1.5674, il_win: 75.0000, rl_win: 146.0000
2025-09-24 08:36:30,615 - mmdet - INFO - Epoch [10][3320/3517]	lr: 3.458e-05, eta: 11:01:16, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2410, debug_std_frame_0: 0.2822, debug_std_frame_1: 0.3166, debug_std_frame_2: 0.3713, debug_std_frame_3: 0.4273, debug_std_frame_4: 0.4831, debug_std_frame_5: 0.5411, loss_rl: -0.1895, loss_critic: 1.2245, loss_rl_bc: 0.0216, il_score: 0.5868, rl_score: 0.6069, prev_frame_loss_waypoint_0: 0.2344, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5797, grad_norm: 58.6625, il_score_sum: 61.3977, rl_score_sum: 62.9651, score_diff: -1.5674, il_win: 75.0000, rl_win: 146.0000
2025-09-24 08:36:46,460 - mmdet - INFO - Epoch [10][3340/3517]	lr: 3.458e-05, eta: 11:01:00, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2171, debug_std_frame_0: 0.2878, debug_std_frame_1: 0.3144, debug_std_frame_2: 0.3596, debug_std_frame_3: 0.4086, debug_std_frame_4: 0.4603, debug_std_frame_5: 0.5135, loss_rl: -0.2533, loss_critic: 1.2936, loss_rl_bc: 0.0481, il_score: 0.5986, rl_score: 0.6506, prev_frame_loss_waypoint_0: 0.2327, prev_frame_loss_rl_bc_0: 0.0535, loss: 1.6169, grad_norm: 67.6294, il_score_sum: 61.3977, rl_score_sum: 62.9651, score_diff: -1.5674, il_win: 75.0000, rl_win: 146.0000
2025-09-24 08:37:02,415 - mmdet - INFO - Epoch [10][3360/3517]	lr: 3.458e-05, eta: 11:00:44, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1904, debug_std_frame_0: 0.2574, debug_std_frame_1: 0.2978, debug_std_frame_2: 0.3601, debug_std_frame_3: 0.4232, debug_std_frame_4: 0.4799, debug_std_frame_5: 0.5358, loss_rl: -0.1584, loss_critic: 1.3137, loss_rl_bc: 0.0175, il_score: 0.6248, rl_score: 0.5971, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.6210, grad_norm: 52.2053, il_score_sum: 61.4790, rl_score_sum: 62.8905, score_diff: -1.4115, il_win: 75.0000, rl_win: 146.6000
2025-09-24 08:37:18,344 - mmdet - INFO - Epoch [10][3380/3517]	lr: 3.458e-05, eta: 11:00:28, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.2056, debug_std_frame_0: 0.2610, debug_std_frame_1: 0.2920, debug_std_frame_2: 0.3451, debug_std_frame_3: 0.4073, debug_std_frame_4: 0.4668, debug_std_frame_5: 0.5221, loss_rl: -0.2386, loss_critic: 1.3254, loss_rl_bc: 0.0145, il_score: 0.6118, rl_score: 0.6382, prev_frame_loss_waypoint_0: 0.2378, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.5885, grad_norm: 54.0422, il_score_sum: 61.4790, rl_score_sum: 62.8905, score_diff: -1.4115, il_win: 75.0000, rl_win: 146.6000
2025-09-24 08:37:34,050 - mmdet - INFO - Epoch [10][3400/3517]	lr: 3.458e-05, eta: 11:00:11, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1864, debug_std_frame_0: 0.2373, debug_std_frame_1: 0.2673, debug_std_frame_2: 0.3136, debug_std_frame_3: 0.3721, debug_std_frame_4: 0.4285, debug_std_frame_5: 0.4825, loss_rl: -0.2186, loss_critic: 1.3296, loss_rl_bc: 0.0119, il_score: 0.5981, rl_score: 0.6261, prev_frame_loss_waypoint_0: 0.2281, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.5791, grad_norm: 57.7654, il_score_sum: 61.4790, rl_score_sum: 62.8905, score_diff: -1.4115, il_win: 75.0000, rl_win: 146.6000
2025-09-24 08:37:49,917 - mmdet - INFO - Epoch [10][3420/3517]	lr: 3.458e-05, eta: 10:59:55, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.2043, debug_std_frame_0: 0.2439, debug_std_frame_1: 0.2781, debug_std_frame_2: 0.3314, debug_std_frame_3: 0.3948, debug_std_frame_4: 0.4563, debug_std_frame_5: 0.5196, loss_rl: -0.2085, loss_critic: 1.3380, loss_rl_bc: 0.0186, il_score: 0.5968, rl_score: 0.6124, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.6206, grad_norm: 62.4023, il_score_sum: 61.4790, rl_score_sum: 62.8905, score_diff: -1.4115, il_win: 75.0000, rl_win: 146.6000
2025-09-24 08:38:05,846 - mmdet - INFO - Epoch [10][3440/3517]	lr: 3.458e-05, eta: 10:59:38, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2214, debug_std_frame_0: 0.2482, debug_std_frame_1: 0.2891, debug_std_frame_2: 0.3496, debug_std_frame_3: 0.4154, debug_std_frame_4: 0.4813, debug_std_frame_5: 0.5484, loss_rl: -0.1834, loss_critic: 1.4140, loss_rl_bc: 0.0182, il_score: 0.5892, rl_score: 0.6221, prev_frame_loss_waypoint_0: 0.2459, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.7644, grad_norm: 68.6235, il_score_sum: 61.4790, rl_score_sum: 62.8905, score_diff: -1.4115, il_win: 75.0000, rl_win: 146.6000
2025-09-24 08:38:21,887 - mmdet - INFO - Epoch [10][3460/3517]	lr: 3.458e-05, eta: 10:59:22, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2024, debug_std_frame_0: 0.2353, debug_std_frame_1: 0.2734, debug_std_frame_2: 0.3253, debug_std_frame_3: 0.3802, debug_std_frame_4: 0.4378, debug_std_frame_5: 0.5001, loss_rl: -0.2358, loss_critic: 1.0362, loss_rl_bc: 0.0134, il_score: 0.6500, rl_score: 0.6742, prev_frame_loss_waypoint_0: 0.2107, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.2686, grad_norm: 46.2674, il_score_sum: 61.3817, rl_score_sum: 62.8576, score_diff: -1.4759, il_win: 75.0000, rl_win: 147.2500
2025-09-24 08:38:37,784 - mmdet - INFO - Epoch [10][3480/3517]	lr: 3.458e-05, eta: 10:59:06, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2603, debug_std_frame_0: 0.2433, debug_std_frame_1: 0.2876, debug_std_frame_2: 0.3446, debug_std_frame_3: 0.4028, debug_std_frame_4: 0.4629, debug_std_frame_5: 0.5247, loss_rl: -0.1657, loss_critic: 1.4361, loss_rl_bc: 0.0283, il_score: 0.5564, rl_score: 0.6017, prev_frame_loss_waypoint_0: 0.2664, prev_frame_loss_rl_bc_0: 0.0252, loss: 1.8752, grad_norm: 84.2086, il_score_sum: 61.3817, rl_score_sum: 62.8576, score_diff: -1.4759, il_win: 75.0000, rl_win: 147.2500
2025-09-24 08:38:53,766 - mmdet - INFO - Epoch [10][3500/3517]	lr: 3.458e-05, eta: 10:58:50, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.2126, debug_std_frame_0: 0.2298, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3356, debug_std_frame_3: 0.3968, debug_std_frame_4: 0.4602, debug_std_frame_5: 0.5231, loss_rl: -0.2696, loss_critic: 1.5880, loss_rl_bc: 0.0153, il_score: 0.6021, rl_score: 0.6447, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.8047, grad_norm: 67.0842, il_score_sum: 61.3817, rl_score_sum: 62.8576, score_diff: -1.4759, il_win: 75.0000, rl_win: 147.2500
2025-09-24 08:39:06,741 - mmdet - INFO - Saving checkpoint at 10 epochs
2025-09-24 08:41:39,751 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 08:41:39,751 - mmdet - INFO - Epoch(val) [10][753]	plan_L2_1s: 0.5511, plan_L2_2s: 0.9877, plan_L2_3s: 1.5168, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0009, plan_obj_box_col_2s: 0.0019, plan_obj_box_col_3s: 0.0067, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.4947, plan_L2_2s_rl_actor: 0.8890, plan_L2_3s_rl_actor: 1.3652, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0045, plan_obj_box_col_2s_rl_actor: 0.0075, plan_obj_box_col_3s_rl_actor: 0.0139, fut_valid_flag_rl_actor: 1.0000
2025-09-24 08:42:05,750 - mmdet - INFO - Epoch [11][20/3517]	lr: 3.149e-05, eta: 10:58:15, time: 1.299, data_time: 0.461, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.2250, debug_std_frame_0: 0.2380, debug_std_frame_1: 0.2816, debug_std_frame_2: 0.3428, debug_std_frame_3: 0.4087, debug_std_frame_4: 0.4729, debug_std_frame_5: 0.5427, loss_rl: -0.1957, loss_critic: 1.4083, loss_rl_bc: 0.0254, il_score: 0.5962, rl_score: 0.5876, prev_frame_loss_waypoint_0: 0.2560, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.7718, grad_norm: 66.9826
2025-09-24 08:42:22,559 - mmdet - INFO - Epoch [11][40/3517]	lr: 3.149e-05, eta: 10:58:00, time: 0.840, data_time: 0.014, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1749, debug_std_frame_0: 0.2459, debug_std_frame_1: 0.2916, debug_std_frame_2: 0.3506, debug_std_frame_3: 0.4140, debug_std_frame_4: 0.4755, debug_std_frame_5: 0.5412, loss_rl: -0.1811, loss_critic: 1.4009, loss_rl_bc: 0.0147, il_score: 0.6220, rl_score: 0.6276, prev_frame_loss_waypoint_0: 0.2130, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.6680, grad_norm: 49.0461, il_score_sum: 61.0237, rl_score_sum: 62.6000, score_diff: -1.5763, il_win: 75.0000, rl_win: 155.0000
2025-09-24 08:42:38,968 - mmdet - INFO - Epoch [11][60/3517]	lr: 3.149e-05, eta: 10:57:45, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.2032, debug_std_frame_0: 0.2470, debug_std_frame_1: 0.2879, debug_std_frame_2: 0.3403, debug_std_frame_3: 0.3977, debug_std_frame_4: 0.4528, debug_std_frame_5: 0.5140, loss_rl: -0.2374, loss_critic: 1.3296, loss_rl_bc: 0.0165, il_score: 0.6505, rl_score: 0.6580, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.5667, grad_norm: 50.0151, il_score_sum: 61.0237, rl_score_sum: 62.6000, score_diff: -1.5763, il_win: 75.0000, rl_win: 155.0000
2025-09-24 08:42:55,233 - mmdet - INFO - Epoch [11][80/3517]	lr: 3.149e-05, eta: 10:57:29, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1976, debug_std_frame_0: 0.2435, debug_std_frame_1: 0.2846, debug_std_frame_2: 0.3418, debug_std_frame_3: 0.4008, debug_std_frame_4: 0.4592, debug_std_frame_5: 0.5209, loss_rl: -0.2065, loss_critic: 1.4861, loss_rl_bc: 0.0164, il_score: 0.6141, rl_score: 0.6208, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.7621, grad_norm: 48.7891, il_score_sum: 61.0237, rl_score_sum: 62.6000, score_diff: -1.5763, il_win: 75.0000, rl_win: 155.0000
2025-09-24 08:43:11,490 - mmdet - INFO - Epoch [11][100/3517]	lr: 3.149e-05, eta: 10:57:13, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.2004, debug_std_frame_0: 0.2566, debug_std_frame_1: 0.2952, debug_std_frame_2: 0.3433, debug_std_frame_3: 0.3970, debug_std_frame_4: 0.4520, debug_std_frame_5: 0.5118, loss_rl: -0.2156, loss_critic: 1.6028, loss_rl_bc: 0.0288, il_score: 0.6202, rl_score: 0.6201, prev_frame_loss_waypoint_0: 0.2077, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.8672, grad_norm: 57.0348, il_score_sum: 61.0237, rl_score_sum: 62.6000, score_diff: -1.5763, il_win: 75.0000, rl_win: 155.0000
2025-09-24 08:43:27,700 - mmdet - INFO - Epoch [11][120/3517]	lr: 3.149e-05, eta: 10:56:57, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.2001, debug_std_frame_0: 0.2579, debug_std_frame_1: 0.2941, debug_std_frame_2: 0.3431, debug_std_frame_3: 0.3979, debug_std_frame_4: 0.4515, debug_std_frame_5: 0.5112, loss_rl: -0.2340, loss_critic: 1.3771, loss_rl_bc: 0.0147, il_score: 0.6107, rl_score: 0.6443, prev_frame_loss_waypoint_0: 0.2095, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.6090, grad_norm: 56.5581, il_score_sum: 61.0237, rl_score_sum: 62.6000, score_diff: -1.5763, il_win: 75.0000, rl_win: 155.0000
2025-09-24 08:43:44,318 - mmdet - INFO - Epoch [11][140/3517]	lr: 3.149e-05, eta: 10:56:42, time: 0.831, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2140, debug_std_frame_0: 0.2567, debug_std_frame_1: 0.2971, debug_std_frame_2: 0.3514, debug_std_frame_3: 0.4099, debug_std_frame_4: 0.4710, debug_std_frame_5: 0.5349, loss_rl: -0.2011, loss_critic: 1.0686, loss_rl_bc: 0.0195, il_score: 0.5976, rl_score: 0.6077, prev_frame_loss_waypoint_0: 0.2252, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.3698, grad_norm: 58.4197, il_score_sum: 61.6147, rl_score_sum: 62.9995, score_diff: -1.3848, il_win: 75.0000, rl_win: 155.5000
2025-09-24 08:44:00,649 - mmdet - INFO - Epoch [11][160/3517]	lr: 3.149e-05, eta: 10:56:26, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1818, debug_std_frame_0: 0.2606, debug_std_frame_1: 0.2960, debug_std_frame_2: 0.3493, debug_std_frame_3: 0.4080, debug_std_frame_4: 0.4677, debug_std_frame_5: 0.5328, loss_rl: -0.2210, loss_critic: 1.4192, loss_rl_bc: 0.0158, il_score: 0.6461, rl_score: 0.6539, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.6293, grad_norm: 63.4390, il_score_sum: 61.6147, rl_score_sum: 62.9995, score_diff: -1.3848, il_win: 75.0000, rl_win: 155.5000
2025-09-24 08:44:17,234 - mmdet - INFO - Epoch [11][180/3517]	lr: 3.149e-05, eta: 10:56:11, time: 0.829, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2142, debug_std_frame_0: 0.2588, debug_std_frame_1: 0.2949, debug_std_frame_2: 0.3477, debug_std_frame_3: 0.4059, debug_std_frame_4: 0.4628, debug_std_frame_5: 0.5257, loss_rl: -0.2209, loss_critic: 1.1651, loss_rl_bc: 0.0233, il_score: 0.6328, rl_score: 0.6201, prev_frame_loss_waypoint_0: 0.2307, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.4620, grad_norm: 62.7712, il_score_sum: 61.6147, rl_score_sum: 62.9995, score_diff: -1.3848, il_win: 75.0000, rl_win: 155.5000
2025-09-24 08:44:33,418 - mmdet - INFO - Epoch [11][200/3517]	lr: 3.149e-05, eta: 10:55:55, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1780, debug_std_frame_0: 0.2474, debug_std_frame_1: 0.2784, debug_std_frame_2: 0.3243, debug_std_frame_3: 0.3744, debug_std_frame_4: 0.4258, debug_std_frame_5: 0.4842, loss_rl: -0.2664, loss_critic: 1.2645, loss_rl_bc: 0.0091, il_score: 0.6797, rl_score: 0.6976, prev_frame_loss_waypoint_0: 0.1883, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.4066, grad_norm: 51.4677, il_score_sum: 61.6147, rl_score_sum: 62.9995, score_diff: -1.3848, il_win: 75.0000, rl_win: 155.5000
2025-09-24 08:44:49,639 - mmdet - INFO - Epoch [11][220/3517]	lr: 3.149e-05, eta: 10:55:39, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2035, debug_std_frame_0: 0.2414, debug_std_frame_1: 0.2714, debug_std_frame_2: 0.3203, debug_std_frame_3: 0.3712, debug_std_frame_4: 0.4248, debug_std_frame_5: 0.4835, loss_rl: -0.2357, loss_critic: 1.6401, loss_rl_bc: 0.0170, il_score: 0.6036, rl_score: 0.6218, prev_frame_loss_waypoint_0: 0.2039, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.8642, grad_norm: 63.0638, il_score_sum: 61.6147, rl_score_sum: 62.9995, score_diff: -1.3848, il_win: 75.0000, rl_win: 155.5000
2025-09-24 08:45:06,172 - mmdet - INFO - Epoch [11][240/3517]	lr: 3.149e-05, eta: 10:55:24, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1904, debug_std_frame_0: 0.2240, debug_std_frame_1: 0.2581, debug_std_frame_2: 0.3120, debug_std_frame_3: 0.3676, debug_std_frame_4: 0.4260, debug_std_frame_5: 0.4896, loss_rl: -0.2235, loss_critic: 1.1002, loss_rl_bc: 0.0128, il_score: 0.6314, rl_score: 0.6603, prev_frame_loss_waypoint_0: 0.1976, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.3171, grad_norm: 38.6515, il_score_sum: 62.2027, rl_score_sum: 63.4792, score_diff: -1.2765, il_win: 75.0000, rl_win: 156.0000
2025-09-24 08:45:22,658 - mmdet - INFO - Epoch [11][260/3517]	lr: 3.149e-05, eta: 10:55:08, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1686, debug_std_frame_0: 0.2340, debug_std_frame_1: 0.2632, debug_std_frame_2: 0.3081, debug_std_frame_3: 0.3538, debug_std_frame_4: 0.4038, debug_std_frame_5: 0.4586, loss_rl: -0.2533, loss_critic: 1.4828, loss_rl_bc: 0.0132, il_score: 0.6333, rl_score: 0.6460, prev_frame_loss_waypoint_0: 0.1911, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.6429, grad_norm: 44.2424, il_score_sum: 62.2027, rl_score_sum: 63.4792, score_diff: -1.2765, il_win: 75.0000, rl_win: 156.0000
2025-09-24 08:45:39,008 - mmdet - INFO - Epoch [11][280/3517]	lr: 3.149e-05, eta: 10:54:53, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.2103, debug_std_frame_0: 0.2456, debug_std_frame_1: 0.2899, debug_std_frame_2: 0.3462, debug_std_frame_3: 0.4018, debug_std_frame_4: 0.4606, debug_std_frame_5: 0.5220, loss_rl: -0.2046, loss_critic: 1.2592, loss_rl_bc: 0.0188, il_score: 0.6243, rl_score: 0.6391, prev_frame_loss_waypoint_0: 0.2157, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.5473, grad_norm: 52.5797, il_score_sum: 62.2027, rl_score_sum: 63.4792, score_diff: -1.2765, il_win: 75.0000, rl_win: 156.0000
2025-09-24 08:45:55,428 - mmdet - INFO - Epoch [11][300/3517]	lr: 3.149e-05, eta: 10:54:37, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.1954, debug_std_frame_0: 0.2473, debug_std_frame_1: 0.2824, debug_std_frame_2: 0.3298, debug_std_frame_3: 0.3770, debug_std_frame_4: 0.4275, debug_std_frame_5: 0.4802, loss_rl: -0.2241, loss_critic: 1.1916, loss_rl_bc: 0.0088, il_score: 0.6360, rl_score: 0.6728, prev_frame_loss_waypoint_0: 0.2166, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.4272, grad_norm: 71.6887, il_score_sum: 62.2027, rl_score_sum: 63.4792, score_diff: -1.2765, il_win: 75.0000, rl_win: 156.0000
2025-09-24 08:46:11,913 - mmdet - INFO - Epoch [11][320/3517]	lr: 3.149e-05, eta: 10:54:22, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2120, debug_std_frame_0: 0.2447, debug_std_frame_1: 0.2810, debug_std_frame_2: 0.3320, debug_std_frame_3: 0.3827, debug_std_frame_4: 0.4364, debug_std_frame_5: 0.4935, loss_rl: -0.2243, loss_critic: 1.1864, loss_rl_bc: 0.0209, il_score: 0.6055, rl_score: 0.6416, prev_frame_loss_waypoint_0: 0.2190, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.4561, grad_norm: 65.4110, il_score_sum: 62.2027, rl_score_sum: 63.4792, score_diff: -1.2765, il_win: 75.0000, rl_win: 156.0000
2025-09-24 08:46:28,447 - mmdet - INFO - Epoch [11][340/3517]	lr: 3.149e-05, eta: 10:54:06, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2184, debug_std_frame_0: 0.2573, debug_std_frame_1: 0.2898, debug_std_frame_2: 0.3380, debug_std_frame_3: 0.3868, debug_std_frame_4: 0.4367, debug_std_frame_5: 0.4921, loss_rl: -0.2248, loss_critic: 1.2612, loss_rl_bc: 0.0190, il_score: 0.6304, rl_score: 0.6370, prev_frame_loss_waypoint_0: 0.2144, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.5288, grad_norm: 56.6955, il_score_sum: 62.3098, rl_score_sum: 63.8466, score_diff: -1.5368, il_win: 75.0000, rl_win: 156.5000
2025-09-24 08:46:44,595 - mmdet - INFO - Epoch [11][360/3517]	lr: 3.149e-05, eta: 10:53:50, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1944, debug_std_frame_0: 0.2563, debug_std_frame_1: 0.2896, debug_std_frame_2: 0.3439, debug_std_frame_3: 0.3989, debug_std_frame_4: 0.4487, debug_std_frame_5: 0.5059, loss_rl: -0.2520, loss_critic: 1.2534, loss_rl_bc: 0.0122, il_score: 0.6448, rl_score: 0.6471, prev_frame_loss_waypoint_0: 0.2068, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.4549, grad_norm: 54.9103, il_score_sum: 62.3098, rl_score_sum: 63.8466, score_diff: -1.5368, il_win: 75.0000, rl_win: 156.5000
2025-09-24 08:47:01,845 - mmdet - INFO - Epoch [11][380/3517]	lr: 3.149e-05, eta: 10:53:36, time: 0.863, data_time: 0.014, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1941, debug_std_frame_0: 0.2541, debug_std_frame_1: 0.2880, debug_std_frame_2: 0.3433, debug_std_frame_3: 0.4007, debug_std_frame_4: 0.4547, debug_std_frame_5: 0.5087, loss_rl: -0.1983, loss_critic: 1.4398, loss_rl_bc: 0.0186, il_score: 0.6040, rl_score: 0.5967, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.7082, grad_norm: 54.0380, il_score_sum: 62.3098, rl_score_sum: 63.8466, score_diff: -1.5368, il_win: 75.0000, rl_win: 156.5000
2025-09-24 08:47:18,015 - mmdet - INFO - Epoch [11][400/3517]	lr: 3.149e-05, eta: 10:53:20, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.1958, debug_std_frame_0: 0.2621, debug_std_frame_1: 0.2960, debug_std_frame_2: 0.3488, debug_std_frame_3: 0.4038, debug_std_frame_4: 0.4581, debug_std_frame_5: 0.5133, loss_rl: -0.2319, loss_critic: 1.3321, loss_rl_bc: 0.0147, il_score: 0.6365, rl_score: 0.6363, prev_frame_loss_waypoint_0: 0.2237, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.5757, grad_norm: 61.4199, il_score_sum: 62.3098, rl_score_sum: 63.8466, score_diff: -1.5368, il_win: 75.0000, rl_win: 156.5000
2025-09-24 08:47:34,144 - mmdet - INFO - Epoch [11][420/3517]	lr: 3.149e-05, eta: 10:53:04, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0218, loss_waypoint: 0.2101, debug_std_frame_0: 0.2539, debug_std_frame_1: 0.2867, debug_std_frame_2: 0.3379, debug_std_frame_3: 0.3953, debug_std_frame_4: 0.4481, debug_std_frame_5: 0.5066, loss_rl: -0.2306, loss_critic: 1.3823, loss_rl_bc: 0.0160, il_score: 0.6264, rl_score: 0.6253, prev_frame_loss_waypoint_0: 0.2178, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.6358, grad_norm: 42.5591, il_score_sum: 62.3098, rl_score_sum: 63.8466, score_diff: -1.5368, il_win: 75.0000, rl_win: 156.5000
2025-09-24 08:47:50,670 - mmdet - INFO - Epoch [11][440/3517]	lr: 3.149e-05, eta: 10:52:49, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1956, debug_std_frame_0: 0.2515, debug_std_frame_1: 0.2823, debug_std_frame_2: 0.3308, debug_std_frame_3: 0.3836, debug_std_frame_4: 0.4329, debug_std_frame_5: 0.4904, loss_rl: -0.2313, loss_critic: 1.2987, loss_rl_bc: 0.0179, il_score: 0.6317, rl_score: 0.6434, prev_frame_loss_waypoint_0: 0.2208, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.5473, grad_norm: 47.7811, il_score_sum: 62.4239, rl_score_sum: 63.6256, score_diff: -1.2018, il_win: 75.0000, rl_win: 156.8000
2025-09-24 08:48:06,845 - mmdet - INFO - Epoch [11][460/3517]	lr: 3.149e-05, eta: 10:52:33, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2250, debug_std_frame_0: 0.2697, debug_std_frame_1: 0.3032, debug_std_frame_2: 0.3581, debug_std_frame_3: 0.4175, debug_std_frame_4: 0.4755, debug_std_frame_5: 0.5403, loss_rl: -0.1973, loss_critic: 1.1098, loss_rl_bc: 0.0182, il_score: 0.6160, rl_score: 0.6407, prev_frame_loss_waypoint_0: 0.2424, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.4459, grad_norm: 49.9962, il_score_sum: 62.4239, rl_score_sum: 63.6256, score_diff: -1.2018, il_win: 75.0000, rl_win: 156.8000
2025-09-24 08:48:23,251 - mmdet - INFO - Epoch [11][480/3517]	lr: 3.149e-05, eta: 10:52:17, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2347, debug_std_frame_0: 0.2395, debug_std_frame_1: 0.2746, debug_std_frame_2: 0.3372, debug_std_frame_3: 0.4062, debug_std_frame_4: 0.4706, debug_std_frame_5: 0.5379, loss_rl: -0.2191, loss_critic: 1.3082, loss_rl_bc: 0.0203, il_score: 0.5872, rl_score: 0.6307, prev_frame_loss_waypoint_0: 0.2267, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.6144, grad_norm: 53.7507, il_score_sum: 62.4239, rl_score_sum: 63.6256, score_diff: -1.2018, il_win: 75.0000, rl_win: 156.8000
2025-09-24 08:48:39,362 - mmdet - INFO - Epoch [11][500/3517]	lr: 3.149e-05, eta: 10:52:01, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.2043, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2797, debug_std_frame_2: 0.3367, debug_std_frame_3: 0.3990, debug_std_frame_4: 0.4607, debug_std_frame_5: 0.5254, loss_rl: -0.2056, loss_critic: 1.1197, loss_rl_bc: 0.0177, il_score: 0.6494, rl_score: 0.6362, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.3931, grad_norm: 60.9925, il_score_sum: 62.4239, rl_score_sum: 63.6256, score_diff: -1.2018, il_win: 75.0000, rl_win: 156.8000
2025-09-24 08:48:55,485 - mmdet - INFO - Epoch [11][520/3517]	lr: 3.149e-05, eta: 10:51:45, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1998, debug_std_frame_0: 0.2619, debug_std_frame_1: 0.2947, debug_std_frame_2: 0.3473, debug_std_frame_3: 0.4037, debug_std_frame_4: 0.4634, debug_std_frame_5: 0.5288, loss_rl: -0.1990, loss_critic: 1.3839, loss_rl_bc: 0.0274, il_score: 0.6191, rl_score: 0.5929, prev_frame_loss_waypoint_0: 0.2208, prev_frame_loss_rl_bc_0: 0.0315, loss: 1.6882, grad_norm: 58.8999, il_score_sum: 62.4239, rl_score_sum: 63.6256, score_diff: -1.2018, il_win: 75.0000, rl_win: 156.8000
2025-09-24 08:49:11,818 - mmdet - INFO - Epoch [11][540/3517]	lr: 3.149e-05, eta: 10:51:30, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2432, debug_std_frame_0: 0.2986, debug_std_frame_1: 0.3322, debug_std_frame_2: 0.3849, debug_std_frame_3: 0.4417, debug_std_frame_4: 0.5005, debug_std_frame_5: 0.5599, loss_rl: -0.2089, loss_critic: 1.4292, loss_rl_bc: 0.0278, il_score: 0.5606, rl_score: 0.5877, prev_frame_loss_waypoint_0: 0.2642, prev_frame_loss_rl_bc_0: 0.0277, loss: 1.8061, grad_norm: 73.1279, il_score_sum: 62.2922, rl_score_sum: 63.3918, score_diff: -1.0995, il_win: 75.0000, rl_win: 157.0000
2025-09-24 08:49:28,110 - mmdet - INFO - Epoch [11][560/3517]	lr: 3.149e-05, eta: 10:51:14, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2249, debug_std_frame_0: 0.2982, debug_std_frame_1: 0.3326, debug_std_frame_2: 0.3906, debug_std_frame_3: 0.4498, debug_std_frame_4: 0.5111, debug_std_frame_5: 0.5771, loss_rl: -0.2637, loss_critic: 1.2554, loss_rl_bc: 0.0174, il_score: 0.5874, rl_score: 0.6416, prev_frame_loss_waypoint_0: 0.2318, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.5083, grad_norm: 71.6330, il_score_sum: 62.2922, rl_score_sum: 63.3918, score_diff: -1.0995, il_win: 75.0000, rl_win: 157.0000
2025-09-24 08:49:44,107 - mmdet - INFO - Epoch [11][580/3517]	lr: 3.149e-05, eta: 10:50:58, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.1814, debug_std_frame_0: 0.2636, debug_std_frame_1: 0.2959, debug_std_frame_2: 0.3467, debug_std_frame_3: 0.4011, debug_std_frame_4: 0.4585, debug_std_frame_5: 0.5180, loss_rl: -0.3367, loss_critic: 1.4080, loss_rl_bc: 0.0085, il_score: 0.6787, rl_score: 0.6806, prev_frame_loss_waypoint_0: 0.2036, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.5016, grad_norm: 49.6353, il_score_sum: 62.2922, rl_score_sum: 63.3918, score_diff: -1.0995, il_win: 75.0000, rl_win: 157.0000
2025-09-24 08:50:00,271 - mmdet - INFO - Epoch [11][600/3517]	lr: 3.149e-05, eta: 10:50:42, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0225, loss_waypoint: 0.2066, debug_std_frame_0: 0.2503, debug_std_frame_1: 0.2824, debug_std_frame_2: 0.3382, debug_std_frame_3: 0.4012, debug_std_frame_4: 0.4613, debug_std_frame_5: 0.5240, loss_rl: -0.2487, loss_critic: 1.1856, loss_rl_bc: 0.0176, il_score: 0.6531, rl_score: 0.6609, prev_frame_loss_waypoint_0: 0.2013, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.4005, grad_norm: 50.1454, il_score_sum: 62.2922, rl_score_sum: 63.3918, score_diff: -1.0995, il_win: 75.0000, rl_win: 157.0000
2025-09-24 08:50:16,429 - mmdet - INFO - Epoch [11][620/3517]	lr: 3.149e-05, eta: 10:50:26, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0206, loss_waypoint: 0.1888, debug_std_frame_0: 0.2371, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3201, debug_std_frame_3: 0.3802, debug_std_frame_4: 0.4399, debug_std_frame_5: 0.5098, loss_rl: -0.2077, loss_critic: 1.1307, loss_rl_bc: 0.0137, il_score: 0.6678, rl_score: 0.6531, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.3674, grad_norm: 42.2735, il_score_sum: 62.2922, rl_score_sum: 63.3918, score_diff: -1.0995, il_win: 75.0000, rl_win: 157.0000
2025-09-24 08:50:32,530 - mmdet - INFO - Epoch [11][640/3517]	lr: 3.149e-05, eta: 10:50:10, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0217, loss_waypoint: 0.2249, debug_std_frame_0: 0.2375, debug_std_frame_1: 0.2654, debug_std_frame_2: 0.3147, debug_std_frame_3: 0.3725, debug_std_frame_4: 0.4304, debug_std_frame_5: 0.4934, loss_rl: -0.1721, loss_critic: 1.8834, loss_rl_bc: 0.0382, il_score: 0.5988, rl_score: 0.6062, prev_frame_loss_waypoint_0: 0.2333, prev_frame_loss_rl_bc_0: 0.0331, loss: 2.2625, grad_norm: 71.3884, il_score_sum: 62.3783, rl_score_sum: 63.6375, score_diff: -1.2592, il_win: 75.0000, rl_win: 157.2857
2025-09-24 08:50:48,540 - mmdet - INFO - Epoch [11][660/3517]	lr: 3.149e-05, eta: 10:49:54, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.2160, debug_std_frame_0: 0.2683, debug_std_frame_1: 0.3013, debug_std_frame_2: 0.3561, debug_std_frame_3: 0.4195, debug_std_frame_4: 0.4854, debug_std_frame_5: 0.5472, loss_rl: -0.1426, loss_critic: 1.3361, loss_rl_bc: 0.0277, il_score: 0.5758, rl_score: 0.5739, prev_frame_loss_waypoint_0: 0.2195, prev_frame_loss_rl_bc_0: 0.0268, loss: 1.7073, grad_norm: 62.1193, il_score_sum: 62.3783, rl_score_sum: 63.6375, score_diff: -1.2592, il_win: 75.0000, rl_win: 157.2857
2025-09-24 08:51:04,705 - mmdet - INFO - Epoch [11][680/3517]	lr: 3.149e-05, eta: 10:49:38, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1992, debug_std_frame_0: 0.2721, debug_std_frame_1: 0.3058, debug_std_frame_2: 0.3597, debug_std_frame_3: 0.4222, debug_std_frame_4: 0.4847, debug_std_frame_5: 0.5468, loss_rl: -0.2590, loss_critic: 1.3813, loss_rl_bc: 0.0169, il_score: 0.6319, rl_score: 0.6474, prev_frame_loss_waypoint_0: 0.2209, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.6011, grad_norm: 38.7082, il_score_sum: 62.3783, rl_score_sum: 63.6375, score_diff: -1.2592, il_win: 75.0000, rl_win: 157.2857
2025-09-24 08:51:20,717 - mmdet - INFO - Epoch [11][700/3517]	lr: 3.149e-05, eta: 10:49:22, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0216, loss_waypoint: 0.2213, debug_std_frame_0: 0.2582, debug_std_frame_1: 0.2891, debug_std_frame_2: 0.3423, debug_std_frame_3: 0.4034, debug_std_frame_4: 0.4637, debug_std_frame_5: 0.5287, loss_rl: -0.1706, loss_critic: 1.2143, loss_rl_bc: 0.0187, il_score: 0.5765, rl_score: 0.6179, prev_frame_loss_waypoint_0: 0.2445, prev_frame_loss_rl_bc_0: 0.0227, loss: 1.5724, grad_norm: 69.1801, il_score_sum: 62.3783, rl_score_sum: 63.6375, score_diff: -1.2592, il_win: 75.0000, rl_win: 157.2857
2025-09-24 08:51:36,878 - mmdet - INFO - Epoch [11][720/3517]	lr: 3.149e-05, eta: 10:49:06, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.1876, debug_std_frame_0: 0.2562, debug_std_frame_1: 0.2812, debug_std_frame_2: 0.3277, debug_std_frame_3: 0.3850, debug_std_frame_4: 0.4379, debug_std_frame_5: 0.4930, loss_rl: -0.2575, loss_critic: 1.4132, loss_rl_bc: 0.0180, il_score: 0.6481, rl_score: 0.6564, prev_frame_loss_waypoint_0: 0.1960, prev_frame_loss_rl_bc_0: 0.0149, loss: 1.5954, grad_norm: 37.4822, il_score_sum: 62.3783, rl_score_sum: 63.6375, score_diff: -1.2592, il_win: 75.0000, rl_win: 157.2857
2025-09-24 08:51:53,025 - mmdet - INFO - Epoch [11][740/3517]	lr: 3.149e-05, eta: 10:48:50, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2029, debug_std_frame_0: 0.2585, debug_std_frame_1: 0.2835, debug_std_frame_2: 0.3287, debug_std_frame_3: 0.3852, debug_std_frame_4: 0.4403, debug_std_frame_5: 0.4997, loss_rl: -0.2552, loss_critic: 1.1409, loss_rl_bc: 0.0128, il_score: 0.6298, rl_score: 0.6802, prev_frame_loss_waypoint_0: 0.2204, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.3622, grad_norm: 57.9528, il_score_sum: 62.2166, rl_score_sum: 63.5288, score_diff: -1.3122, il_win: 75.0000, rl_win: 157.6250
2025-09-24 08:52:09,077 - mmdet - INFO - Epoch [11][760/3517]	lr: 3.149e-05, eta: 10:48:34, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2075, debug_std_frame_0: 0.2821, debug_std_frame_1: 0.3097, debug_std_frame_2: 0.3551, debug_std_frame_3: 0.4119, debug_std_frame_4: 0.4663, debug_std_frame_5: 0.5316, loss_rl: -0.2533, loss_critic: 1.3785, loss_rl_bc: 0.0153, il_score: 0.6171, rl_score: 0.6495, prev_frame_loss_waypoint_0: 0.2324, prev_frame_loss_rl_bc_0: 0.0333, loss: 1.6381, grad_norm: 57.5972, il_score_sum: 62.2166, rl_score_sum: 63.5288, score_diff: -1.3122, il_win: 75.0000, rl_win: 157.6250
2025-09-24 08:52:25,363 - mmdet - INFO - Epoch [11][780/3517]	lr: 3.149e-05, eta: 10:48:18, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0215, loss_waypoint: 0.2005, debug_std_frame_0: 0.2899, debug_std_frame_1: 0.3135, debug_std_frame_2: 0.3527, debug_std_frame_3: 0.4034, debug_std_frame_4: 0.4532, debug_std_frame_5: 0.5089, loss_rl: -0.2571, loss_critic: 1.4672, loss_rl_bc: 0.0179, il_score: 0.6135, rl_score: 0.6288, prev_frame_loss_waypoint_0: 0.2127, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.6780, grad_norm: 58.3283, il_score_sum: 62.2166, rl_score_sum: 63.5288, score_diff: -1.3122, il_win: 75.0000, rl_win: 157.6250
2025-09-24 08:52:41,362 - mmdet - INFO - Epoch [11][800/3517]	lr: 3.149e-05, eta: 10:48:02, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.1864, debug_std_frame_0: 0.2623, debug_std_frame_1: 0.2885, debug_std_frame_2: 0.3294, debug_std_frame_3: 0.3793, debug_std_frame_4: 0.4294, debug_std_frame_5: 0.4940, loss_rl: -0.2310, loss_critic: 1.5820, loss_rl_bc: 0.0113, il_score: 0.5919, rl_score: 0.6366, prev_frame_loss_waypoint_0: 0.1950, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.7757, grad_norm: 60.2272, il_score_sum: 62.2166, rl_score_sum: 63.5288, score_diff: -1.3122, il_win: 75.0000, rl_win: 157.6250
2025-09-24 08:52:57,359 - mmdet - INFO - Epoch [11][820/3517]	lr: 3.149e-05, eta: 10:47:46, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2087, debug_std_frame_0: 0.2537, debug_std_frame_1: 0.2827, debug_std_frame_2: 0.3276, debug_std_frame_3: 0.3853, debug_std_frame_4: 0.4375, debug_std_frame_5: 0.5020, loss_rl: -0.2280, loss_critic: 1.4753, loss_rl_bc: 0.0142, il_score: 0.6123, rl_score: 0.6384, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.7394, grad_norm: 62.4031, il_score_sum: 62.2166, rl_score_sum: 63.5288, score_diff: -1.3122, il_win: 75.0000, rl_win: 157.6250
2025-09-24 08:53:13,534 - mmdet - INFO - Epoch [11][840/3517]	lr: 3.149e-05, eta: 10:47:30, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.1898, debug_std_frame_0: 0.2492, debug_std_frame_1: 0.2755, debug_std_frame_2: 0.3175, debug_std_frame_3: 0.3734, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4820, loss_rl: -0.2322, loss_critic: 1.2625, loss_rl_bc: 0.0131, il_score: 0.6471, rl_score: 0.6590, prev_frame_loss_waypoint_0: 0.2177, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.4913, grad_norm: 53.7786, il_score_sum: 62.1380, rl_score_sum: 63.6181, score_diff: -1.4801, il_win: 75.0000, rl_win: 158.0000
2025-09-24 08:53:29,676 - mmdet - INFO - Epoch [11][860/3517]	lr: 3.149e-05, eta: 10:47:14, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1980, debug_std_frame_0: 0.2387, debug_std_frame_1: 0.2654, debug_std_frame_2: 0.3100, debug_std_frame_3: 0.3668, debug_std_frame_4: 0.4183, debug_std_frame_5: 0.4782, loss_rl: -0.2064, loss_critic: 1.4957, loss_rl_bc: 0.0186, il_score: 0.6119, rl_score: 0.6135, prev_frame_loss_waypoint_0: 0.2134, prev_frame_loss_rl_bc_0: 0.0248, loss: 1.7723, grad_norm: 53.0537, il_score_sum: 62.1380, rl_score_sum: 63.6181, score_diff: -1.4801, il_win: 75.0000, rl_win: 158.0000
2025-09-24 08:53:45,595 - mmdet - INFO - Epoch [11][880/3517]	lr: 3.149e-05, eta: 10:46:58, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2001, debug_std_frame_0: 0.2574, debug_std_frame_1: 0.2897, debug_std_frame_2: 0.3435, debug_std_frame_3: 0.4063, debug_std_frame_4: 0.4604, debug_std_frame_5: 0.5225, loss_rl: -0.1649, loss_critic: 1.3982, loss_rl_bc: 0.0208, il_score: 0.6202, rl_score: 0.6214, prev_frame_loss_waypoint_0: 0.2254, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.7303, grad_norm: 61.6642, il_score_sum: 62.1380, rl_score_sum: 63.6181, score_diff: -1.4801, il_win: 75.0000, rl_win: 158.0000
2025-09-24 08:54:01,654 - mmdet - INFO - Epoch [11][900/3517]	lr: 3.149e-05, eta: 10:46:42, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1820, debug_std_frame_0: 0.2504, debug_std_frame_1: 0.2774, debug_std_frame_2: 0.3229, debug_std_frame_3: 0.3745, debug_std_frame_4: 0.4227, debug_std_frame_5: 0.4773, loss_rl: -0.2330, loss_critic: 1.3519, loss_rl_bc: 0.0103, il_score: 0.6204, rl_score: 0.6438, prev_frame_loss_waypoint_0: 0.1999, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.5468, grad_norm: 39.3826, il_score_sum: 62.1380, rl_score_sum: 63.6181, score_diff: -1.4801, il_win: 75.0000, rl_win: 158.0000
2025-09-24 08:54:17,687 - mmdet - INFO - Epoch [11][920/3517]	lr: 3.149e-05, eta: 10:46:26, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1825, debug_std_frame_0: 0.2460, debug_std_frame_1: 0.2726, debug_std_frame_2: 0.3205, debug_std_frame_3: 0.3767, debug_std_frame_4: 0.4283, debug_std_frame_5: 0.4831, loss_rl: -0.2734, loss_critic: 1.4307, loss_rl_bc: 0.0092, il_score: 0.6453, rl_score: 0.6525, prev_frame_loss_waypoint_0: 0.2103, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.6017, grad_norm: 40.4462, il_score_sum: 62.1380, rl_score_sum: 63.6181, score_diff: -1.4801, il_win: 75.0000, rl_win: 158.0000
2025-09-24 08:54:33,831 - mmdet - INFO - Epoch [11][940/3517]	lr: 3.149e-05, eta: 10:46:10, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2084, debug_std_frame_0: 0.2285, debug_std_frame_1: 0.2547, debug_std_frame_2: 0.3062, debug_std_frame_3: 0.3673, debug_std_frame_4: 0.4193, debug_std_frame_5: 0.4770, loss_rl: -0.2123, loss_critic: 1.1660, loss_rl_bc: 0.0148, il_score: 0.6125, rl_score: 0.6267, prev_frame_loss_waypoint_0: 0.2284, prev_frame_loss_rl_bc_0: 0.0204, loss: 1.4525, grad_norm: 58.0724, il_score_sum: 62.1795, rl_score_sum: 63.6052, score_diff: -1.4257, il_win: 75.0000, rl_win: 158.3000
2025-09-24 08:54:49,675 - mmdet - INFO - Epoch [11][960/3517]	lr: 3.149e-05, eta: 10:45:54, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1881, debug_std_frame_0: 0.2369, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3106, debug_std_frame_3: 0.3670, debug_std_frame_4: 0.4191, debug_std_frame_5: 0.4743, loss_rl: -0.2641, loss_critic: 1.4085, loss_rl_bc: 0.0120, il_score: 0.6337, rl_score: 0.6641, prev_frame_loss_waypoint_0: 0.1854, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.5689, grad_norm: 40.9934, il_score_sum: 62.1795, rl_score_sum: 63.6052, score_diff: -1.4257, il_win: 75.0000, rl_win: 158.3000
2025-09-24 08:55:05,433 - mmdet - INFO - Epoch [11][980/3517]	lr: 3.149e-05, eta: 10:45:37, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1775, debug_std_frame_0: 0.2293, debug_std_frame_1: 0.2587, debug_std_frame_2: 0.3087, debug_std_frame_3: 0.3700, debug_std_frame_4: 0.4256, debug_std_frame_5: 0.4906, loss_rl: -0.2272, loss_critic: 1.0988, loss_rl_bc: 0.0121, il_score: 0.6730, rl_score: 0.6713, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.3062, grad_norm: 49.4877, il_score_sum: 62.1795, rl_score_sum: 63.6052, score_diff: -1.4257, il_win: 75.0000, rl_win: 158.3000
2025-09-24 08:55:21,218 - mmdet - INFO - Epoch [11][1000/3517]	lr: 3.149e-05, eta: 10:45:21, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1976, debug_std_frame_0: 0.2316, debug_std_frame_1: 0.2601, debug_std_frame_2: 0.3104, debug_std_frame_3: 0.3680, debug_std_frame_4: 0.4173, debug_std_frame_5: 0.4800, loss_rl: -0.2044, loss_critic: 1.5618, loss_rl_bc: 0.0211, il_score: 0.6203, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2288, prev_frame_loss_rl_bc_0: 0.0289, loss: 1.8580, grad_norm: 75.9214, il_score_sum: 62.1795, rl_score_sum: 63.6052, score_diff: -1.4257, il_win: 75.0000, rl_win: 158.3000
2025-09-24 08:55:37,214 - mmdet - INFO - Epoch [11][1020/3517]	lr: 3.149e-05, eta: 10:45:05, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1704, debug_std_frame_0: 0.2476, debug_std_frame_1: 0.2786, debug_std_frame_2: 0.3270, debug_std_frame_3: 0.3815, debug_std_frame_4: 0.4328, debug_std_frame_5: 0.4956, loss_rl: -0.2253, loss_critic: 1.2439, loss_rl_bc: 0.0120, il_score: 0.6507, rl_score: 0.6487, prev_frame_loss_waypoint_0: 0.1862, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.4233, grad_norm: 52.6687, il_score_sum: 62.1795, rl_score_sum: 63.6052, score_diff: -1.4257, il_win: 75.0000, rl_win: 158.3000
2025-09-24 08:55:53,192 - mmdet - INFO - Epoch [11][1040/3517]	lr: 3.149e-05, eta: 10:44:48, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.2100, debug_std_frame_0: 0.2517, debug_std_frame_1: 0.2863, debug_std_frame_2: 0.3398, debug_std_frame_3: 0.3941, debug_std_frame_4: 0.4429, debug_std_frame_5: 0.5043, loss_rl: -0.2180, loss_critic: 1.2799, loss_rl_bc: 0.0238, il_score: 0.6335, rl_score: 0.6312, prev_frame_loss_waypoint_0: 0.2145, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.5520, grad_norm: 51.9781, il_score_sum: 62.3781, rl_score_sum: 63.7264, score_diff: -1.3483, il_win: 75.0000, rl_win: 158.5455
2025-09-24 08:56:08,974 - mmdet - INFO - Epoch [11][1060/3517]	lr: 3.149e-05, eta: 10:44:32, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2331, debug_std_frame_0: 0.2611, debug_std_frame_1: 0.2899, debug_std_frame_2: 0.3358, debug_std_frame_3: 0.3861, debug_std_frame_4: 0.4349, debug_std_frame_5: 0.4978, loss_rl: -0.1879, loss_critic: 1.1904, loss_rl_bc: 0.0212, il_score: 0.6094, rl_score: 0.6140, prev_frame_loss_waypoint_0: 0.2415, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5440, grad_norm: 78.7457, il_score_sum: 62.3781, rl_score_sum: 63.7264, score_diff: -1.3483, il_win: 75.0000, rl_win: 158.5455
2025-09-24 08:56:24,851 - mmdet - INFO - Epoch [11][1080/3517]	lr: 3.149e-05, eta: 10:44:16, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.2288, debug_std_frame_0: 0.2738, debug_std_frame_1: 0.3080, debug_std_frame_2: 0.3606, debug_std_frame_3: 0.4180, debug_std_frame_4: 0.4698, debug_std_frame_5: 0.5272, loss_rl: -0.2023, loss_critic: 1.5002, loss_rl_bc: 0.0247, il_score: 0.5994, rl_score: 0.6281, prev_frame_loss_waypoint_0: 0.2530, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.8555, grad_norm: 70.8174, il_score_sum: 62.3781, rl_score_sum: 63.7264, score_diff: -1.3483, il_win: 75.0000, rl_win: 158.5455
2025-09-24 08:56:40,772 - mmdet - INFO - Epoch [11][1100/3517]	lr: 3.149e-05, eta: 10:43:59, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1884, debug_std_frame_0: 0.2559, debug_std_frame_1: 0.2900, debug_std_frame_2: 0.3460, debug_std_frame_3: 0.4024, debug_std_frame_4: 0.4523, debug_std_frame_5: 0.5092, loss_rl: -0.2123, loss_critic: 1.4376, loss_rl_bc: 0.0193, il_score: 0.6302, rl_score: 0.6280, prev_frame_loss_waypoint_0: 0.1993, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.6789, grad_norm: 41.3899, il_score_sum: 62.3781, rl_score_sum: 63.7264, score_diff: -1.3483, il_win: 75.0000, rl_win: 158.5455
2025-09-24 08:56:56,710 - mmdet - INFO - Epoch [11][1120/3517]	lr: 3.149e-05, eta: 10:43:43, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.2028, debug_std_frame_0: 0.2650, debug_std_frame_1: 0.2978, debug_std_frame_2: 0.3494, debug_std_frame_3: 0.4019, debug_std_frame_4: 0.4485, debug_std_frame_5: 0.4994, loss_rl: -0.1778, loss_critic: 1.5043, loss_rl_bc: 0.0295, il_score: 0.6356, rl_score: 0.5987, prev_frame_loss_waypoint_0: 0.2276, prev_frame_loss_rl_bc_0: 0.0352, loss: 1.8496, grad_norm: 73.2577, il_score_sum: 62.3781, rl_score_sum: 63.7264, score_diff: -1.3483, il_win: 75.0000, rl_win: 158.5455
2025-09-24 08:57:12,648 - mmdet - INFO - Epoch [11][1140/3517]	lr: 3.149e-05, eta: 10:43:27, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2148, debug_std_frame_0: 0.2916, debug_std_frame_1: 0.3217, debug_std_frame_2: 0.3749, debug_std_frame_3: 0.4276, debug_std_frame_4: 0.4743, debug_std_frame_5: 0.5254, loss_rl: -0.2418, loss_critic: 1.2039, loss_rl_bc: 0.0225, il_score: 0.6023, rl_score: 0.6270, prev_frame_loss_waypoint_0: 0.2562, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.5027, grad_norm: 79.5199, il_score_sum: 62.3155, rl_score_sum: 63.5414, score_diff: -1.2259, il_win: 75.0000, rl_win: 158.7500
2025-09-24 08:57:28,394 - mmdet - INFO - Epoch [11][1160/3517]	lr: 3.149e-05, eta: 10:43:11, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2546, debug_std_frame_0: 0.2939, debug_std_frame_1: 0.3258, debug_std_frame_2: 0.3774, debug_std_frame_3: 0.4261, debug_std_frame_4: 0.4722, debug_std_frame_5: 0.5218, loss_rl: -0.2696, loss_critic: 1.2515, loss_rl_bc: 0.0123, il_score: 0.5718, rl_score: 0.6570, prev_frame_loss_waypoint_0: 0.2735, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.5639, grad_norm: 93.0644, il_score_sum: 62.3155, rl_score_sum: 63.5414, score_diff: -1.2259, il_win: 75.0000, rl_win: 158.7500
2025-09-24 08:57:44,202 - mmdet - INFO - Epoch [11][1180/3517]	lr: 3.149e-05, eta: 10:42:54, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.2310, debug_std_frame_0: 0.2979, debug_std_frame_1: 0.3275, debug_std_frame_2: 0.3805, debug_std_frame_3: 0.4344, debug_std_frame_4: 0.4834, debug_std_frame_5: 0.5348, loss_rl: -0.2095, loss_critic: 1.3037, loss_rl_bc: 0.0198, il_score: 0.5893, rl_score: 0.6201, prev_frame_loss_waypoint_0: 0.2291, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.6174, grad_norm: 75.1322, il_score_sum: 62.3155, rl_score_sum: 63.5414, score_diff: -1.2259, il_win: 75.0000, rl_win: 158.7500
2025-09-24 08:58:00,008 - mmdet - INFO - Epoch [11][1200/3517]	lr: 3.149e-05, eta: 10:42:38, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1841, debug_std_frame_0: 0.2699, debug_std_frame_1: 0.2969, debug_std_frame_2: 0.3428, debug_std_frame_3: 0.3927, debug_std_frame_4: 0.4386, debug_std_frame_5: 0.4899, loss_rl: -0.2851, loss_critic: 1.6118, loss_rl_bc: 0.0108, il_score: 0.6569, rl_score: 0.6699, prev_frame_loss_waypoint_0: 0.1927, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.7494, grad_norm: 57.5939, il_score_sum: 62.3155, rl_score_sum: 63.5414, score_diff: -1.2259, il_win: 75.0000, rl_win: 158.7500
2025-09-24 08:58:15,958 - mmdet - INFO - Epoch [11][1220/3517]	lr: 3.149e-05, eta: 10:42:22, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1783, debug_std_frame_0: 0.2493, debug_std_frame_1: 0.2756, debug_std_frame_2: 0.3237, debug_std_frame_3: 0.3753, debug_std_frame_4: 0.4215, debug_std_frame_5: 0.4738, loss_rl: -0.2614, loss_critic: 1.1818, loss_rl_bc: 0.0094, il_score: 0.6643, rl_score: 0.6870, prev_frame_loss_waypoint_0: 0.2123, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.3600, grad_norm: 55.5095, il_score_sum: 62.3155, rl_score_sum: 63.5414, score_diff: -1.2259, il_win: 75.0000, rl_win: 158.7500
2025-09-24 08:58:32,186 - mmdet - INFO - Epoch [11][1240/3517]	lr: 3.149e-05, eta: 10:42:06, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.2198, debug_std_frame_0: 0.2448, debug_std_frame_1: 0.2732, debug_std_frame_2: 0.3242, debug_std_frame_3: 0.3774, debug_std_frame_4: 0.4249, debug_std_frame_5: 0.4792, loss_rl: -0.2435, loss_critic: 1.0899, loss_rl_bc: 0.0143, il_score: 0.6100, rl_score: 0.6447, prev_frame_loss_waypoint_0: 0.2164, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.3365, grad_norm: 49.5945, il_score_sum: 62.2831, rl_score_sum: 63.6887, score_diff: -1.4057, il_win: 75.0000, rl_win: 159.0000
2025-09-24 08:58:48,379 - mmdet - INFO - Epoch [11][1260/3517]	lr: 3.149e-05, eta: 10:41:50, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2111, debug_std_frame_0: 0.2509, debug_std_frame_1: 0.2824, debug_std_frame_2: 0.3403, debug_std_frame_3: 0.4002, debug_std_frame_4: 0.4528, debug_std_frame_5: 0.5136, loss_rl: -0.1881, loss_critic: 1.2310, loss_rl_bc: 0.0376, il_score: 0.6507, rl_score: 0.6189, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0403, loss: 1.5797, grad_norm: 54.3430, il_score_sum: 62.2831, rl_score_sum: 63.6887, score_diff: -1.4057, il_win: 75.0000, rl_win: 159.0000
2025-09-24 08:59:04,661 - mmdet - INFO - Epoch [11][1280/3517]	lr: 3.149e-05, eta: 10:41:34, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.2161, debug_std_frame_0: 0.2815, debug_std_frame_1: 0.3143, debug_std_frame_2: 0.3670, debug_std_frame_3: 0.4211, debug_std_frame_4: 0.4721, debug_std_frame_5: 0.5340, loss_rl: -0.2637, loss_critic: 1.1873, loss_rl_bc: 0.0200, il_score: 0.6302, rl_score: 0.6343, prev_frame_loss_waypoint_0: 0.2431, prev_frame_loss_rl_bc_0: 0.0218, loss: 1.4493, grad_norm: 58.1259, il_score_sum: 62.2831, rl_score_sum: 63.6887, score_diff: -1.4057, il_win: 75.0000, rl_win: 159.0000
2025-09-24 08:59:20,792 - mmdet - INFO - Epoch [11][1300/3517]	lr: 3.149e-05, eta: 10:41:18, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.2387, debug_std_frame_0: 0.2787, debug_std_frame_1: 0.3148, debug_std_frame_2: 0.3727, debug_std_frame_3: 0.4326, debug_std_frame_4: 0.4897, debug_std_frame_5: 0.5507, loss_rl: -0.2076, loss_critic: 1.2801, loss_rl_bc: 0.0241, il_score: 0.6212, rl_score: 0.6076, prev_frame_loss_waypoint_0: 0.2577, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.6475, grad_norm: 61.8430, il_score_sum: 62.2831, rl_score_sum: 63.6887, score_diff: -1.4057, il_win: 75.0000, rl_win: 159.0000
2025-09-24 08:59:36,747 - mmdet - INFO - Epoch [11][1320/3517]	lr: 3.149e-05, eta: 10:41:02, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.2149, debug_std_frame_0: 0.2712, debug_std_frame_1: 0.3041, debug_std_frame_2: 0.3565, debug_std_frame_3: 0.4121, debug_std_frame_4: 0.4660, debug_std_frame_5: 0.5272, loss_rl: -0.2175, loss_critic: 1.3487, loss_rl_bc: 0.0224, il_score: 0.6054, rl_score: 0.6070, prev_frame_loss_waypoint_0: 0.2296, prev_frame_loss_rl_bc_0: 0.0271, loss: 1.6500, grad_norm: 64.1231, il_score_sum: 62.2831, rl_score_sum: 63.6887, score_diff: -1.4057, il_win: 75.0000, rl_win: 159.0000
2025-09-24 08:59:52,736 - mmdet - INFO - Epoch [11][1340/3517]	lr: 3.149e-05, eta: 10:40:46, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2085, debug_std_frame_0: 0.2854, debug_std_frame_1: 0.3182, debug_std_frame_2: 0.3714, debug_std_frame_3: 0.4252, debug_std_frame_4: 0.4796, debug_std_frame_5: 0.5395, loss_rl: -0.2023, loss_critic: 1.4609, loss_rl_bc: 0.0258, il_score: 0.6239, rl_score: 0.5877, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.7444, grad_norm: 59.7774, il_score_sum: 62.2843, rl_score_sum: 63.5602, score_diff: -1.2758, il_win: 75.0000, rl_win: 159.2143
2025-09-24 09:00:08,411 - mmdet - INFO - Epoch [11][1360/3517]	lr: 3.149e-05, eta: 10:40:29, time: 0.783, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.2254, debug_std_frame_0: 0.2914, debug_std_frame_1: 0.3308, debug_std_frame_2: 0.3849, debug_std_frame_3: 0.4409, debug_std_frame_4: 0.4962, debug_std_frame_5: 0.5557, loss_rl: -0.2371, loss_critic: 1.4764, loss_rl_bc: 0.0195, il_score: 0.6228, rl_score: 0.6578, prev_frame_loss_waypoint_0: 0.2244, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.7558, grad_norm: 57.9030, il_score_sum: 62.2843, rl_score_sum: 63.5602, score_diff: -1.2758, il_win: 75.0000, rl_win: 159.2143
2025-09-24 09:00:24,275 - mmdet - INFO - Epoch [11][1380/3517]	lr: 3.149e-05, eta: 10:40:13, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2319, debug_std_frame_0: 0.2794, debug_std_frame_1: 0.3176, debug_std_frame_2: 0.3732, debug_std_frame_3: 0.4353, debug_std_frame_4: 0.4952, debug_std_frame_5: 0.5605, loss_rl: -0.1752, loss_critic: 1.3675, loss_rl_bc: 0.0278, il_score: 0.5813, rl_score: 0.5800, prev_frame_loss_waypoint_0: 0.2626, prev_frame_loss_rl_bc_0: 0.0732, loss: 1.8135, grad_norm: 75.1438, il_score_sum: 62.2843, rl_score_sum: 63.5602, score_diff: -1.2758, il_win: 75.0000, rl_win: 159.2143
2025-09-24 09:00:39,961 - mmdet - INFO - Epoch [11][1400/3517]	lr: 3.149e-05, eta: 10:39:57, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.2042, debug_std_frame_0: 0.2980, debug_std_frame_1: 0.3341, debug_std_frame_2: 0.3853, debug_std_frame_3: 0.4417, debug_std_frame_4: 0.4996, debug_std_frame_5: 0.5653, loss_rl: -0.1566, loss_critic: 1.5116, loss_rl_bc: 0.0285, il_score: 0.5920, rl_score: 0.5732, prev_frame_loss_waypoint_0: 0.2098, prev_frame_loss_rl_bc_0: 0.0266, loss: 1.8472, grad_norm: 62.1065, il_score_sum: 62.2843, rl_score_sum: 63.5602, score_diff: -1.2758, il_win: 75.0000, rl_win: 159.2143
2025-09-24 09:00:55,913 - mmdet - INFO - Epoch [11][1420/3517]	lr: 3.149e-05, eta: 10:39:40, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.1888, debug_std_frame_0: 0.2943, debug_std_frame_1: 0.3270, debug_std_frame_2: 0.3754, debug_std_frame_3: 0.4274, debug_std_frame_4: 0.4786, debug_std_frame_5: 0.5363, loss_rl: -0.2300, loss_critic: 1.5674, loss_rl_bc: 0.0197, il_score: 0.6116, rl_score: 0.6012, prev_frame_loss_waypoint_0: 0.2083, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.7970, grad_norm: 57.3973, il_score_sum: 62.2843, rl_score_sum: 63.5602, score_diff: -1.2758, il_win: 75.0000, rl_win: 159.2143
2025-09-24 09:01:11,928 - mmdet - INFO - Epoch [11][1440/3517]	lr: 3.149e-05, eta: 10:39:24, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1987, debug_std_frame_0: 0.2953, debug_std_frame_1: 0.3250, debug_std_frame_2: 0.3718, debug_std_frame_3: 0.4208, debug_std_frame_4: 0.4757, debug_std_frame_5: 0.5349, loss_rl: -0.2407, loss_critic: 1.0449, loss_rl_bc: 0.0163, il_score: 0.6486, rl_score: 0.6708, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.2777, grad_norm: 51.2643, il_score_sum: 62.2016, rl_score_sum: 63.3688, score_diff: -1.1672, il_win: 75.0000, rl_win: 159.4000
2025-09-24 09:01:27,701 - mmdet - INFO - Epoch [11][1460/3517]	lr: 3.149e-05, eta: 10:39:08, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.2150, debug_std_frame_0: 0.2693, debug_std_frame_1: 0.3027, debug_std_frame_2: 0.3537, debug_std_frame_3: 0.4080, debug_std_frame_4: 0.4621, debug_std_frame_5: 0.5210, loss_rl: -0.2127, loss_critic: 1.0606, loss_rl_bc: 0.0129, il_score: 0.6157, rl_score: 0.6339, prev_frame_loss_waypoint_0: 0.2379, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.3548, grad_norm: 67.0912, il_score_sum: 62.2016, rl_score_sum: 63.3688, score_diff: -1.1672, il_win: 75.0000, rl_win: 159.4000
2025-09-24 09:01:43,422 - mmdet - INFO - Epoch [11][1480/3517]	lr: 3.149e-05, eta: 10:38:51, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.1968, debug_std_frame_0: 0.2602, debug_std_frame_1: 0.2923, debug_std_frame_2: 0.3386, debug_std_frame_3: 0.3966, debug_std_frame_4: 0.4549, debug_std_frame_5: 0.5115, loss_rl: -0.2345, loss_critic: 1.3512, loss_rl_bc: 0.0133, il_score: 0.5995, rl_score: 0.6374, prev_frame_loss_waypoint_0: 0.2184, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.5808, grad_norm: 61.4831, il_score_sum: 62.2016, rl_score_sum: 63.3688, score_diff: -1.1672, il_win: 75.0000, rl_win: 159.4000
2025-09-24 09:01:59,409 - mmdet - INFO - Epoch [11][1500/3517]	lr: 3.149e-05, eta: 10:38:35, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0235, loss_waypoint: 0.1932, debug_std_frame_0: 0.2507, debug_std_frame_1: 0.2822, debug_std_frame_2: 0.3289, debug_std_frame_3: 0.3825, debug_std_frame_4: 0.4383, debug_std_frame_5: 0.4984, loss_rl: -0.2079, loss_critic: 1.2049, loss_rl_bc: 0.0173, il_score: 0.6404, rl_score: 0.6398, prev_frame_loss_waypoint_0: 0.2113, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.4619, grad_norm: 58.9034, il_score_sum: 62.2016, rl_score_sum: 63.3688, score_diff: -1.1672, il_win: 75.0000, rl_win: 159.4000
2025-09-24 09:02:15,378 - mmdet - INFO - Epoch [11][1520/3517]	lr: 3.149e-05, eta: 10:38:19, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.2203, debug_std_frame_0: 0.2420, debug_std_frame_1: 0.2744, debug_std_frame_2: 0.3249, debug_std_frame_3: 0.3837, debug_std_frame_4: 0.4433, debug_std_frame_5: 0.5075, loss_rl: -0.2239, loss_critic: 1.1540, loss_rl_bc: 0.0159, il_score: 0.6235, rl_score: 0.6416, prev_frame_loss_waypoint_0: 0.2472, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.4553, grad_norm: 76.3843, il_score_sum: 62.2016, rl_score_sum: 63.3688, score_diff: -1.1672, il_win: 75.0000, rl_win: 159.4000
2025-09-24 09:02:31,312 - mmdet - INFO - Epoch [11][1540/3517]	lr: 3.149e-05, eta: 10:38:03, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2257, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2773, debug_std_frame_2: 0.3279, debug_std_frame_3: 0.3849, debug_std_frame_4: 0.4434, debug_std_frame_5: 0.5067, loss_rl: -0.2177, loss_critic: 1.1395, loss_rl_bc: 0.0213, il_score: 0.6084, rl_score: 0.6386, prev_frame_loss_waypoint_0: 0.2364, prev_frame_loss_rl_bc_0: 0.0266, loss: 1.4557, grad_norm: 63.4785, il_score_sum: 62.1939, rl_score_sum: 63.4284, score_diff: -1.2344, il_win: 75.0000, rl_win: 159.6250
2025-09-24 09:02:47,048 - mmdet - INFO - Epoch [11][1560/3517]	lr: 3.149e-05, eta: 10:37:46, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1693, debug_std_frame_0: 0.2594, debug_std_frame_1: 0.2898, debug_std_frame_2: 0.3365, debug_std_frame_3: 0.3927, debug_std_frame_4: 0.4500, debug_std_frame_5: 0.5099, loss_rl: -0.2538, loss_critic: 1.2628, loss_rl_bc: 0.0137, il_score: 0.6656, rl_score: 0.6783, prev_frame_loss_waypoint_0: 0.1948, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.4271, grad_norm: 45.3206, il_score_sum: 62.1939, rl_score_sum: 63.4284, score_diff: -1.2344, il_win: 75.0000, rl_win: 159.6250
2025-09-24 09:03:03,059 - mmdet - INFO - Epoch [11][1580/3517]	lr: 3.149e-05, eta: 10:37:30, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1620, debug_std_frame_0: 0.2473, debug_std_frame_1: 0.2768, debug_std_frame_2: 0.3237, debug_std_frame_3: 0.3768, debug_std_frame_4: 0.4309, debug_std_frame_5: 0.4881, loss_rl: -0.2816, loss_critic: 1.6808, loss_rl_bc: 0.0067, il_score: 0.6411, rl_score: 0.6534, prev_frame_loss_waypoint_0: 0.1945, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.7948, grad_norm: 47.0719, il_score_sum: 62.1939, rl_score_sum: 63.4284, score_diff: -1.2344, il_win: 75.0000, rl_win: 159.6250
2025-09-24 09:03:18,877 - mmdet - INFO - Epoch [11][1600/3517]	lr: 3.149e-05, eta: 10:37:14, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1951, debug_std_frame_0: 0.2304, debug_std_frame_1: 0.2545, debug_std_frame_2: 0.2999, debug_std_frame_3: 0.3537, debug_std_frame_4: 0.4037, debug_std_frame_5: 0.4565, loss_rl: -0.2607, loss_critic: 1.2902, loss_rl_bc: 0.0128, il_score: 0.6375, rl_score: 0.6698, prev_frame_loss_waypoint_0: 0.1914, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4648, grad_norm: 49.2471, il_score_sum: 62.1939, rl_score_sum: 63.4284, score_diff: -1.2344, il_win: 75.0000, rl_win: 159.6250
2025-09-24 09:03:34,659 - mmdet - INFO - Epoch [11][1620/3517]	lr: 3.149e-05, eta: 10:36:58, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1877, debug_std_frame_0: 0.2351, debug_std_frame_1: 0.2617, debug_std_frame_2: 0.3096, debug_std_frame_3: 0.3681, debug_std_frame_4: 0.4227, debug_std_frame_5: 0.4822, loss_rl: -0.1632, loss_critic: 1.5254, loss_rl_bc: 0.0205, il_score: 0.6115, rl_score: 0.5988, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0203, loss: 1.8330, grad_norm: 58.5365, il_score_sum: 62.1939, rl_score_sum: 63.4284, score_diff: -1.2344, il_win: 75.0000, rl_win: 159.6250
2025-09-24 09:03:50,570 - mmdet - INFO - Epoch [11][1640/3517]	lr: 3.149e-05, eta: 10:36:41, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2438, debug_std_frame_0: 0.2627, debug_std_frame_1: 0.2951, debug_std_frame_2: 0.3466, debug_std_frame_3: 0.4088, debug_std_frame_4: 0.4648, debug_std_frame_5: 0.5303, loss_rl: -0.1716, loss_critic: 1.4053, loss_rl_bc: 0.0288, il_score: 0.5903, rl_score: 0.5976, prev_frame_loss_waypoint_0: 0.2505, prev_frame_loss_rl_bc_0: 0.0328, loss: 1.8151, grad_norm: 80.1233, il_score_sum: 62.2845, rl_score_sum: 63.4837, score_diff: -1.1991, il_win: 75.0000, rl_win: 159.8235
2025-09-24 09:04:06,589 - mmdet - INFO - Epoch [11][1660/3517]	lr: 3.149e-05, eta: 10:36:25, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2007, debug_std_frame_0: 0.2623, debug_std_frame_1: 0.2963, debug_std_frame_2: 0.3528, debug_std_frame_3: 0.4144, debug_std_frame_4: 0.4725, debug_std_frame_5: 0.5375, loss_rl: -0.2080, loss_critic: 1.2790, loss_rl_bc: 0.0165, il_score: 0.6190, rl_score: 0.6383, prev_frame_loss_waypoint_0: 0.2295, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.5598, grad_norm: 54.1563, il_score_sum: 62.2845, rl_score_sum: 63.4837, score_diff: -1.1991, il_win: 75.0000, rl_win: 159.8235
2025-09-24 09:04:22,573 - mmdet - INFO - Epoch [11][1680/3517]	lr: 3.149e-05, eta: 10:36:09, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.2033, debug_std_frame_0: 0.2565, debug_std_frame_1: 0.2898, debug_std_frame_2: 0.3434, debug_std_frame_3: 0.4019, debug_std_frame_4: 0.4598, debug_std_frame_5: 0.5251, loss_rl: -0.2730, loss_critic: 1.3867, loss_rl_bc: 0.0103, il_score: 0.6227, rl_score: 0.6712, prev_frame_loss_waypoint_0: 0.2153, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.5813, grad_norm: 59.6511, il_score_sum: 62.2845, rl_score_sum: 63.4837, score_diff: -1.1991, il_win: 75.0000, rl_win: 159.8235
2025-09-24 09:04:38,461 - mmdet - INFO - Epoch [11][1700/3517]	lr: 3.149e-05, eta: 10:35:53, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1833, debug_std_frame_0: 0.2537, debug_std_frame_1: 0.2822, debug_std_frame_2: 0.3347, debug_std_frame_3: 0.3933, debug_std_frame_4: 0.4455, debug_std_frame_5: 0.5073, loss_rl: -0.2836, loss_critic: 1.7018, loss_rl_bc: 0.0153, il_score: 0.6049, rl_score: 0.6365, prev_frame_loss_waypoint_0: 0.2076, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.8615, grad_norm: 58.2867, il_score_sum: 62.2845, rl_score_sum: 63.4837, score_diff: -1.1991, il_win: 75.0000, rl_win: 159.8235
2025-09-24 09:04:54,351 - mmdet - INFO - Epoch [11][1720/3517]	lr: 3.149e-05, eta: 10:35:37, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1854, debug_std_frame_0: 0.2345, debug_std_frame_1: 0.2656, debug_std_frame_2: 0.3247, debug_std_frame_3: 0.3876, debug_std_frame_4: 0.4455, debug_std_frame_5: 0.5125, loss_rl: -0.2610, loss_critic: 1.3389, loss_rl_bc: 0.0153, il_score: 0.6331, rl_score: 0.6211, prev_frame_loss_waypoint_0: 0.2157, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.5351, grad_norm: 45.5501, il_score_sum: 62.2845, rl_score_sum: 63.4837, score_diff: -1.1991, il_win: 75.0000, rl_win: 159.8235
2025-09-24 09:05:10,345 - mmdet - INFO - Epoch [11][1740/3517]	lr: 3.149e-05, eta: 10:35:20, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1648, debug_std_frame_0: 0.2383, debug_std_frame_1: 0.2664, debug_std_frame_2: 0.3223, debug_std_frame_3: 0.3852, debug_std_frame_4: 0.4435, debug_std_frame_5: 0.5073, loss_rl: -0.2129, loss_critic: 1.6480, loss_rl_bc: 0.0129, il_score: 0.6047, rl_score: 0.6021, prev_frame_loss_waypoint_0: 0.2018, prev_frame_loss_rl_bc_0: 0.0173, loss: 1.8583, grad_norm: 50.5786, il_score_sum: 62.2236, rl_score_sum: 63.4905, score_diff: -1.2669, il_win: 75.0000, rl_win: 160.0556
2025-09-24 09:05:26,141 - mmdet - INFO - Epoch [11][1760/3517]	lr: 3.149e-05, eta: 10:35:04, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1964, debug_std_frame_0: 0.2392, debug_std_frame_1: 0.2708, debug_std_frame_2: 0.3312, debug_std_frame_3: 0.3939, debug_std_frame_4: 0.4507, debug_std_frame_5: 0.5156, loss_rl: -0.1875, loss_critic: 1.4380, loss_rl_bc: 0.0207, il_score: 0.5952, rl_score: 0.6182, prev_frame_loss_waypoint_0: 0.2042, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.7179, grad_norm: 57.0451, il_score_sum: 62.2236, rl_score_sum: 63.4905, score_diff: -1.2669, il_win: 75.0000, rl_win: 160.0556
2025-09-24 09:05:42,076 - mmdet - INFO - Epoch [11][1780/3517]	lr: 3.149e-05, eta: 10:34:48, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.2138, debug_std_frame_0: 0.2524, debug_std_frame_1: 0.2819, debug_std_frame_2: 0.3389, debug_std_frame_3: 0.3978, debug_std_frame_4: 0.4521, debug_std_frame_5: 0.5111, loss_rl: -0.2548, loss_critic: 1.1060, loss_rl_bc: 0.0133, il_score: 0.6426, rl_score: 0.6602, prev_frame_loss_waypoint_0: 0.2143, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.3322, grad_norm: 56.0444, il_score_sum: 62.2236, rl_score_sum: 63.4905, score_diff: -1.2669, il_win: 75.0000, rl_win: 160.0556
2025-09-24 09:05:58,051 - mmdet - INFO - Epoch [11][1800/3517]	lr: 3.149e-05, eta: 10:34:32, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.2046, debug_std_frame_0: 0.2445, debug_std_frame_1: 0.2753, debug_std_frame_2: 0.3341, debug_std_frame_3: 0.3954, debug_std_frame_4: 0.4512, debug_std_frame_5: 0.5128, loss_rl: -0.2035, loss_critic: 1.5287, loss_rl_bc: 0.0327, il_score: 0.6130, rl_score: 0.6289, prev_frame_loss_waypoint_0: 0.2069, prev_frame_loss_rl_bc_0: 0.0483, loss: 1.8440, grad_norm: 64.7058, il_score_sum: 62.2236, rl_score_sum: 63.4905, score_diff: -1.2669, il_win: 75.0000, rl_win: 160.0556
2025-09-24 09:06:14,082 - mmdet - INFO - Epoch [11][1820/3517]	lr: 3.149e-05, eta: 10:34:16, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.2032, debug_std_frame_0: 0.2465, debug_std_frame_1: 0.2828, debug_std_frame_2: 0.3478, debug_std_frame_3: 0.4117, debug_std_frame_4: 0.4692, debug_std_frame_5: 0.5316, loss_rl: -0.1468, loss_critic: 1.4905, loss_rl_bc: 0.0243, il_score: 0.6024, rl_score: 0.5801, prev_frame_loss_waypoint_0: 0.2218, prev_frame_loss_rl_bc_0: 0.0262, loss: 1.8442, grad_norm: 62.8134, il_score_sum: 62.2236, rl_score_sum: 63.4905, score_diff: -1.2669, il_win: 75.0000, rl_win: 160.0556
2025-09-24 09:06:30,119 - mmdet - INFO - Epoch [11][1840/3517]	lr: 3.149e-05, eta: 10:34:00, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.2021, debug_std_frame_0: 0.2515, debug_std_frame_1: 0.2866, debug_std_frame_2: 0.3486, debug_std_frame_3: 0.4152, debug_std_frame_4: 0.4728, debug_std_frame_5: 0.5374, loss_rl: -0.2216, loss_critic: 1.3575, loss_rl_bc: 0.0198, il_score: 0.6270, rl_score: 0.6366, prev_frame_loss_waypoint_0: 0.2170, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.6207, grad_norm: 46.2577, il_score_sum: 62.1634, rl_score_sum: 63.4089, score_diff: -1.2454, il_win: 75.0000, rl_win: 160.2632
2025-09-24 09:06:45,936 - mmdet - INFO - Epoch [11][1860/3517]	lr: 3.149e-05, eta: 10:33:43, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.2013, debug_std_frame_0: 0.2458, debug_std_frame_1: 0.2747, debug_std_frame_2: 0.3272, debug_std_frame_3: 0.3890, debug_std_frame_4: 0.4446, debug_std_frame_5: 0.5073, loss_rl: -0.2639, loss_critic: 1.2649, loss_rl_bc: 0.0111, il_score: 0.6676, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.2002, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.4505, grad_norm: 50.4840, il_score_sum: 62.1634, rl_score_sum: 63.4089, score_diff: -1.2454, il_win: 75.0000, rl_win: 160.2632
2025-09-24 09:07:01,788 - mmdet - INFO - Epoch [11][1880/3517]	lr: 3.149e-05, eta: 10:33:27, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1979, debug_std_frame_0: 0.2386, debug_std_frame_1: 0.2663, debug_std_frame_2: 0.3131, debug_std_frame_3: 0.3665, debug_std_frame_4: 0.4184, debug_std_frame_5: 0.4772, loss_rl: -0.2442, loss_critic: 1.3427, loss_rl_bc: 0.0110, il_score: 0.6412, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.2212, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.5713, grad_norm: 57.4701, il_score_sum: 62.1634, rl_score_sum: 63.4089, score_diff: -1.2454, il_win: 75.0000, rl_win: 160.2632
2025-09-24 09:07:17,825 - mmdet - INFO - Epoch [11][1900/3517]	lr: 3.149e-05, eta: 10:33:11, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0227, loss_waypoint: 0.2297, debug_std_frame_0: 0.2367, debug_std_frame_1: 0.2666, debug_std_frame_2: 0.3168, debug_std_frame_3: 0.3752, debug_std_frame_4: 0.4287, debug_std_frame_5: 0.4918, loss_rl: -0.2035, loss_critic: 1.1738, loss_rl_bc: 0.0196, il_score: 0.6151, rl_score: 0.6293, prev_frame_loss_waypoint_0: 0.2498, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.5163, grad_norm: 72.5741, il_score_sum: 62.1634, rl_score_sum: 63.4089, score_diff: -1.2454, il_win: 75.0000, rl_win: 160.2632
2025-09-24 09:07:33,755 - mmdet - INFO - Epoch [11][1920/3517]	lr: 3.149e-05, eta: 10:32:55, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1823, debug_std_frame_0: 0.2445, debug_std_frame_1: 0.2741, debug_std_frame_2: 0.3225, debug_std_frame_3: 0.3812, debug_std_frame_4: 0.4388, debug_std_frame_5: 0.4991, loss_rl: -0.2274, loss_critic: 1.4214, loss_rl_bc: 0.0137, il_score: 0.6352, rl_score: 0.6396, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.6305, grad_norm: 53.3320, il_score_sum: 62.1634, rl_score_sum: 63.4089, score_diff: -1.2454, il_win: 75.0000, rl_win: 160.2632
2025-09-24 09:07:49,683 - mmdet - INFO - Epoch [11][1940/3517]	lr: 3.149e-05, eta: 10:32:38, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1833, debug_std_frame_0: 0.2377, debug_std_frame_1: 0.2682, debug_std_frame_2: 0.3204, debug_std_frame_3: 0.3795, debug_std_frame_4: 0.4387, debug_std_frame_5: 0.5007, loss_rl: -0.2051, loss_critic: 1.5419, loss_rl_bc: 0.0113, il_score: 0.6153, rl_score: 0.6322, prev_frame_loss_waypoint_0: 0.1963, prev_frame_loss_rl_bc_0: 0.0107, loss: 1.7628, grad_norm: 57.7789, il_score_sum: 62.2395, rl_score_sum: 63.4843, score_diff: -1.2447, il_win: 75.0000, rl_win: 160.5000
2025-09-24 09:08:05,363 - mmdet - INFO - Epoch [11][1960/3517]	lr: 3.149e-05, eta: 10:32:22, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2123, debug_std_frame_0: 0.2323, debug_std_frame_1: 0.2615, debug_std_frame_2: 0.3126, debug_std_frame_3: 0.3676, debug_std_frame_4: 0.4233, debug_std_frame_5: 0.4863, loss_rl: -0.2440, loss_critic: 1.4443, loss_rl_bc: 0.0160, il_score: 0.6425, rl_score: 0.6488, prev_frame_loss_waypoint_0: 0.2181, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.6892, grad_norm: 52.1637, il_score_sum: 62.2395, rl_score_sum: 63.4843, score_diff: -1.2447, il_win: 75.0000, rl_win: 160.5000
2025-09-24 09:08:21,467 - mmdet - INFO - Epoch [11][1980/3517]	lr: 3.149e-05, eta: 10:32:06, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2003, debug_std_frame_0: 0.2277, debug_std_frame_1: 0.2570, debug_std_frame_2: 0.3090, debug_std_frame_3: 0.3707, debug_std_frame_4: 0.4282, debug_std_frame_5: 0.4890, loss_rl: -0.2282, loss_critic: 1.1234, loss_rl_bc: 0.0176, il_score: 0.6536, rl_score: 0.6675, prev_frame_loss_waypoint_0: 0.1957, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.3491, grad_norm: 50.6623, il_score_sum: 62.2395, rl_score_sum: 63.4843, score_diff: -1.2447, il_win: 75.0000, rl_win: 160.5000
2025-09-24 09:08:37,274 - mmdet - INFO - Epoch [11][2000/3517]	lr: 3.149e-05, eta: 10:31:49, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2038, debug_std_frame_0: 0.2403, debug_std_frame_1: 0.2739, debug_std_frame_2: 0.3248, debug_std_frame_3: 0.3851, debug_std_frame_4: 0.4414, debug_std_frame_5: 0.5011, loss_rl: -0.1615, loss_critic: 1.2435, loss_rl_bc: 0.0234, il_score: 0.5883, rl_score: 0.6013, prev_frame_loss_waypoint_0: 0.2392, prev_frame_loss_rl_bc_0: 0.0264, loss: 1.5994, grad_norm: 65.8959, il_score_sum: 62.2395, rl_score_sum: 63.4843, score_diff: -1.2447, il_win: 75.0000, rl_win: 160.5000
2025-09-24 09:08:53,071 - mmdet - INFO - Epoch [11][2020/3517]	lr: 3.149e-05, eta: 10:31:33, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.2113, debug_std_frame_0: 0.2577, debug_std_frame_1: 0.3001, debug_std_frame_2: 0.3578, debug_std_frame_3: 0.4234, debug_std_frame_4: 0.4834, debug_std_frame_5: 0.5456, loss_rl: -0.1776, loss_critic: 1.3494, loss_rl_bc: 0.0230, il_score: 0.5934, rl_score: 0.6087, prev_frame_loss_waypoint_0: 0.2357, prev_frame_loss_rl_bc_0: 0.0276, loss: 1.6932, grad_norm: 53.9290, il_score_sum: 62.2395, rl_score_sum: 63.4843, score_diff: -1.2447, il_win: 75.0000, rl_win: 160.5000
2025-09-24 09:09:08,875 - mmdet - INFO - Epoch [11][2040/3517]	lr: 3.149e-05, eta: 10:31:17, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0222, loss_waypoint: 0.2168, debug_std_frame_0: 0.2655, debug_std_frame_1: 0.3033, debug_std_frame_2: 0.3547, debug_std_frame_3: 0.4167, debug_std_frame_4: 0.4741, debug_std_frame_5: 0.5328, loss_rl: -0.2360, loss_critic: 1.2581, loss_rl_bc: 0.0160, il_score: 0.6249, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.2339, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.5276, grad_norm: 62.6605, il_score_sum: 62.2910, rl_score_sum: 63.5267, score_diff: -1.2357, il_win: 75.0000, rl_win: 161.0500
2025-09-24 09:09:24,705 - mmdet - INFO - Epoch [11][2060/3517]	lr: 3.149e-05, eta: 10:31:00, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0219, loss_waypoint: 0.2203, debug_std_frame_0: 0.2494, debug_std_frame_1: 0.2889, debug_std_frame_2: 0.3435, debug_std_frame_3: 0.4062, debug_std_frame_4: 0.4626, debug_std_frame_5: 0.5232, loss_rl: -0.2223, loss_critic: 1.4956, loss_rl_bc: 0.0179, il_score: 0.6120, rl_score: 0.6192, prev_frame_loss_waypoint_0: 0.2283, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.7789, grad_norm: 57.5059, il_score_sum: 62.2910, rl_score_sum: 63.5267, score_diff: -1.2357, il_win: 75.0000, rl_win: 161.0500
2025-09-24 09:09:40,621 - mmdet - INFO - Epoch [11][2080/3517]	lr: 3.149e-05, eta: 10:30:44, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.2061, debug_std_frame_0: 0.2424, debug_std_frame_1: 0.2757, debug_std_frame_2: 0.3261, debug_std_frame_3: 0.3841, debug_std_frame_4: 0.4405, debug_std_frame_5: 0.5007, loss_rl: -0.2528, loss_critic: 1.1706, loss_rl_bc: 0.0153, il_score: 0.6442, rl_score: 0.6609, prev_frame_loss_waypoint_0: 0.2277, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.4090, grad_norm: 50.7472, il_score_sum: 62.2910, rl_score_sum: 63.5267, score_diff: -1.2357, il_win: 75.0000, rl_win: 161.0500
2025-09-24 09:09:56,460 - mmdet - INFO - Epoch [11][2100/3517]	lr: 3.149e-05, eta: 10:30:28, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.2241, debug_std_frame_0: 0.2375, debug_std_frame_1: 0.2726, debug_std_frame_2: 0.3247, debug_std_frame_3: 0.3821, debug_std_frame_4: 0.4392, debug_std_frame_5: 0.5045, loss_rl: -0.2194, loss_critic: 1.5755, loss_rl_bc: 0.0147, il_score: 0.6154, rl_score: 0.6309, prev_frame_loss_waypoint_0: 0.2325, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.8657, grad_norm: 69.4423, il_score_sum: 62.2910, rl_score_sum: 63.5267, score_diff: -1.2357, il_win: 75.0000, rl_win: 161.0500
2025-09-24 09:10:12,236 - mmdet - INFO - Epoch [11][2120/3517]	lr: 3.149e-05, eta: 10:30:12, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2229, debug_std_frame_0: 0.2407, debug_std_frame_1: 0.2711, debug_std_frame_2: 0.3210, debug_std_frame_3: 0.3765, debug_std_frame_4: 0.4297, debug_std_frame_5: 0.4884, loss_rl: -0.2138, loss_critic: 1.1899, loss_rl_bc: 0.0181, il_score: 0.6023, rl_score: 0.6324, prev_frame_loss_waypoint_0: 0.2163, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.4747, grad_norm: 58.1398, il_score_sum: 62.2910, rl_score_sum: 63.5267, score_diff: -1.2357, il_win: 75.0000, rl_win: 161.0500
2025-09-24 09:10:28,224 - mmdet - INFO - Epoch [11][2140/3517]	lr: 3.149e-05, eta: 10:29:55, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1780, debug_std_frame_0: 0.2302, debug_std_frame_1: 0.2553, debug_std_frame_2: 0.3041, debug_std_frame_3: 0.3591, debug_std_frame_4: 0.4121, debug_std_frame_5: 0.4687, loss_rl: -0.2416, loss_critic: 1.1819, loss_rl_bc: 0.0086, il_score: 0.6718, rl_score: 0.7027, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.3523, grad_norm: 40.1783, il_score_sum: 62.3170, rl_score_sum: 63.5810, score_diff: -1.2640, il_win: 75.0000, rl_win: 161.6000
2025-09-24 09:10:44,011 - mmdet - INFO - Epoch [11][2160/3517]	lr: 3.149e-05, eta: 10:29:39, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1817, debug_std_frame_0: 0.2342, debug_std_frame_1: 0.2592, debug_std_frame_2: 0.3091, debug_std_frame_3: 0.3678, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4882, loss_rl: -0.1838, loss_critic: 1.3955, loss_rl_bc: 0.0144, il_score: 0.6516, rl_score: 0.6472, prev_frame_loss_waypoint_0: 0.2195, prev_frame_loss_rl_bc_0: 0.0283, loss: 1.6805, grad_norm: 50.0250, il_score_sum: 62.3170, rl_score_sum: 63.5810, score_diff: -1.2640, il_win: 75.0000, rl_win: 161.6000
2025-09-24 09:10:59,818 - mmdet - INFO - Epoch [11][2180/3517]	lr: 3.149e-05, eta: 10:29:23, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.2014, debug_std_frame_0: 0.2497, debug_std_frame_1: 0.2783, debug_std_frame_2: 0.3304, debug_std_frame_3: 0.3863, debug_std_frame_4: 0.4427, debug_std_frame_5: 0.5043, loss_rl: -0.2600, loss_critic: 1.1584, loss_rl_bc: 0.0119, il_score: 0.6706, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.1961, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.3469, grad_norm: 53.3398, il_score_sum: 62.3170, rl_score_sum: 63.5810, score_diff: -1.2640, il_win: 75.0000, rl_win: 161.6000
2025-09-24 09:11:15,680 - mmdet - INFO - Epoch [11][2200/3517]	lr: 3.149e-05, eta: 10:29:06, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1905, debug_std_frame_0: 0.2468, debug_std_frame_1: 0.2757, debug_std_frame_2: 0.3278, debug_std_frame_3: 0.3834, debug_std_frame_4: 0.4404, debug_std_frame_5: 0.4999, loss_rl: -0.2237, loss_critic: 1.2251, loss_rl_bc: 0.0154, il_score: 0.6266, rl_score: 0.6393, prev_frame_loss_waypoint_0: 0.2002, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.4487, grad_norm: 62.0846, il_score_sum: 62.3170, rl_score_sum: 63.5810, score_diff: -1.2640, il_win: 75.0000, rl_win: 161.6000
2025-09-24 09:11:31,510 - mmdet - INFO - Epoch [11][2220/3517]	lr: 3.149e-05, eta: 10:28:50, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1956, debug_std_frame_0: 0.2397, debug_std_frame_1: 0.2684, debug_std_frame_2: 0.3203, debug_std_frame_3: 0.3729, debug_std_frame_4: 0.4252, debug_std_frame_5: 0.4791, loss_rl: -0.2672, loss_critic: 1.5117, loss_rl_bc: 0.0104, il_score: 0.6335, rl_score: 0.6689, prev_frame_loss_waypoint_0: 0.1986, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.6858, grad_norm: 64.6328, il_score_sum: 62.3170, rl_score_sum: 63.5810, score_diff: -1.2640, il_win: 75.0000, rl_win: 161.6000
2025-09-24 09:11:47,432 - mmdet - INFO - Epoch [11][2240/3517]	lr: 3.149e-05, eta: 10:28:34, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.2061, debug_std_frame_0: 0.2384, debug_std_frame_1: 0.2668, debug_std_frame_2: 0.3183, debug_std_frame_3: 0.3698, debug_std_frame_4: 0.4246, debug_std_frame_5: 0.4809, loss_rl: -0.2784, loss_critic: 1.2803, loss_rl_bc: 0.0104, il_score: 0.6178, rl_score: 0.6543, prev_frame_loss_waypoint_0: 0.2174, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.4759, grad_norm: 62.2752, il_score_sum: 62.3519, rl_score_sum: 63.6644, score_diff: -1.3126, il_win: 75.0000, rl_win: 162.1500
2025-09-24 09:12:03,113 - mmdet - INFO - Epoch [11][2260/3517]	lr: 3.149e-05, eta: 10:28:17, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.2125, debug_std_frame_0: 0.2334, debug_std_frame_1: 0.2631, debug_std_frame_2: 0.3202, debug_std_frame_3: 0.3764, debug_std_frame_4: 0.4352, debug_std_frame_5: 0.4941, loss_rl: -0.2312, loss_critic: 1.1888, loss_rl_bc: 0.0082, il_score: 0.6144, rl_score: 0.6533, prev_frame_loss_waypoint_0: 0.2233, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4398, grad_norm: 74.0669, il_score_sum: 62.3519, rl_score_sum: 63.6644, score_diff: -1.3126, il_win: 75.0000, rl_win: 162.1500
2025-09-24 09:12:18,856 - mmdet - INFO - Epoch [11][2280/3517]	lr: 3.149e-05, eta: 10:28:01, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1904, debug_std_frame_0: 0.2386, debug_std_frame_1: 0.2648, debug_std_frame_2: 0.3141, debug_std_frame_3: 0.3655, debug_std_frame_4: 0.4195, debug_std_frame_5: 0.4775, loss_rl: -0.2219, loss_critic: 1.4081, loss_rl_bc: 0.0097, il_score: 0.5924, rl_score: 0.6229, prev_frame_loss_waypoint_0: 0.2158, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.6420, grad_norm: 56.8775, il_score_sum: 62.3519, rl_score_sum: 63.6644, score_diff: -1.3126, il_win: 75.0000, rl_win: 162.1500
2025-09-24 09:12:34,647 - mmdet - INFO - Epoch [11][2300/3517]	lr: 3.149e-05, eta: 10:27:45, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2284, debug_std_frame_0: 0.2284, debug_std_frame_1: 0.2600, debug_std_frame_2: 0.3171, debug_std_frame_3: 0.3781, debug_std_frame_4: 0.4409, debug_std_frame_5: 0.5035, loss_rl: -0.1839, loss_critic: 1.2162, loss_rl_bc: 0.0243, il_score: 0.5878, rl_score: 0.6093, prev_frame_loss_waypoint_0: 0.2354, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.5648, grad_norm: 52.5861, il_score_sum: 62.3519, rl_score_sum: 63.6644, score_diff: -1.3126, il_win: 75.0000, rl_win: 162.1500
2025-09-24 09:12:50,418 - mmdet - INFO - Epoch [11][2320/3517]	lr: 3.149e-05, eta: 10:27:28, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1961, debug_std_frame_0: 0.2416, debug_std_frame_1: 0.2768, debug_std_frame_2: 0.3292, debug_std_frame_3: 0.3866, debug_std_frame_4: 0.4450, debug_std_frame_5: 0.5070, loss_rl: -0.2414, loss_critic: 1.3682, loss_rl_bc: 0.0161, il_score: 0.6295, rl_score: 0.6449, prev_frame_loss_waypoint_0: 0.2222, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.6032, grad_norm: 60.2285, il_score_sum: 62.3519, rl_score_sum: 63.6644, score_diff: -1.3126, il_win: 75.0000, rl_win: 162.1500
2025-09-24 09:13:06,408 - mmdet - INFO - Epoch [11][2340/3517]	lr: 3.149e-05, eta: 10:27:12, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1846, debug_std_frame_0: 0.2299, debug_std_frame_1: 0.2622, debug_std_frame_2: 0.3142, debug_std_frame_3: 0.3712, debug_std_frame_4: 0.4272, debug_std_frame_5: 0.4826, loss_rl: -0.2766, loss_critic: 1.6609, loss_rl_bc: 0.0059, il_score: 0.6365, rl_score: 0.6587, prev_frame_loss_waypoint_0: 0.1854, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.7924, grad_norm: 60.0345, il_score_sum: 62.2693, rl_score_sum: 63.5964, score_diff: -1.3271, il_win: 75.0000, rl_win: 162.7000
2025-09-24 09:13:22,198 - mmdet - INFO - Epoch [11][2360/3517]	lr: 3.149e-05, eta: 10:26:56, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2243, debug_std_frame_0: 0.2315, debug_std_frame_1: 0.2599, debug_std_frame_2: 0.3103, debug_std_frame_3: 0.3657, debug_std_frame_4: 0.4243, debug_std_frame_5: 0.4832, loss_rl: -0.2040, loss_critic: 1.5743, loss_rl_bc: 0.0149, il_score: 0.5710, rl_score: 0.6229, prev_frame_loss_waypoint_0: 0.2407, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.8893, grad_norm: 79.9138, il_score_sum: 62.2693, rl_score_sum: 63.5964, score_diff: -1.3271, il_win: 75.0000, rl_win: 162.7000
2025-09-24 09:13:38,081 - mmdet - INFO - Epoch [11][2380/3517]	lr: 3.149e-05, eta: 10:26:39, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1948, debug_std_frame_0: 0.2235, debug_std_frame_1: 0.2494, debug_std_frame_2: 0.3015, debug_std_frame_3: 0.3602, debug_std_frame_4: 0.4190, debug_std_frame_5: 0.4791, loss_rl: -0.2536, loss_critic: 1.4306, loss_rl_bc: 0.0092, il_score: 0.6185, rl_score: 0.6583, prev_frame_loss_waypoint_0: 0.2098, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.6269, grad_norm: 64.7268, il_score_sum: 62.2693, rl_score_sum: 63.5964, score_diff: -1.3271, il_win: 75.0000, rl_win: 162.7000
2025-09-24 09:13:53,877 - mmdet - INFO - Epoch [11][2400/3517]	lr: 3.149e-05, eta: 10:26:23, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1693, debug_std_frame_0: 0.2248, debug_std_frame_1: 0.2506, debug_std_frame_2: 0.2980, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4051, debug_std_frame_5: 0.4600, loss_rl: -0.2594, loss_critic: 1.2128, loss_rl_bc: 0.0086, il_score: 0.6622, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1943, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.3673, grad_norm: 46.4633, il_score_sum: 62.2693, rl_score_sum: 63.5964, score_diff: -1.3271, il_win: 75.0000, rl_win: 162.7000
2025-09-24 09:14:09,722 - mmdet - INFO - Epoch [11][2420/3517]	lr: 3.149e-05, eta: 10:26:07, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1997, debug_std_frame_0: 0.2251, debug_std_frame_1: 0.2540, debug_std_frame_2: 0.3020, debug_std_frame_3: 0.3544, debug_std_frame_4: 0.4085, debug_std_frame_5: 0.4637, loss_rl: -0.3087, loss_critic: 1.3568, loss_rl_bc: 0.0138, il_score: 0.6545, rl_score: 0.6953, prev_frame_loss_waypoint_0: 0.2026, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.4975, grad_norm: 52.8457, il_score_sum: 62.2693, rl_score_sum: 63.5964, score_diff: -1.3271, il_win: 75.0000, rl_win: 162.7000
2025-09-24 09:14:25,692 - mmdet - INFO - Epoch [11][2440/3517]	lr: 3.149e-05, eta: 10:25:51, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1966, debug_std_frame_0: 0.2214, debug_std_frame_1: 0.2549, debug_std_frame_2: 0.3121, debug_std_frame_3: 0.3679, debug_std_frame_4: 0.4291, debug_std_frame_5: 0.4894, loss_rl: -0.2232, loss_critic: 1.2953, loss_rl_bc: 0.0090, il_score: 0.6346, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.2359, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5549, grad_norm: 51.6952, il_score_sum: 62.2537, rl_score_sum: 63.7737, score_diff: -1.5200, il_win: 75.0000, rl_win: 163.3000
2025-09-24 09:14:41,670 - mmdet - INFO - Epoch [11][2460/3517]	lr: 3.149e-05, eta: 10:25:34, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0232, loss_waypoint: 0.1936, debug_std_frame_0: 0.2259, debug_std_frame_1: 0.2554, debug_std_frame_2: 0.3056, debug_std_frame_3: 0.3600, debug_std_frame_4: 0.4145, debug_std_frame_5: 0.4683, loss_rl: -0.2637, loss_critic: 1.1656, loss_rl_bc: 0.0186, il_score: 0.6521, rl_score: 0.6755, prev_frame_loss_waypoint_0: 0.2121, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.3668, grad_norm: 53.4806, il_score_sum: 62.2537, rl_score_sum: 63.7737, score_diff: -1.5200, il_win: 75.0000, rl_win: 163.3000
2025-09-24 09:14:57,615 - mmdet - INFO - Epoch [11][2480/3517]	lr: 3.149e-05, eta: 10:25:18, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0231, loss_waypoint: 0.1920, debug_std_frame_0: 0.2401, debug_std_frame_1: 0.2793, debug_std_frame_2: 0.3372, debug_std_frame_3: 0.3958, debug_std_frame_4: 0.4525, debug_std_frame_5: 0.5099, loss_rl: -0.1789, loss_critic: 1.3860, loss_rl_bc: 0.0215, il_score: 0.6190, rl_score: 0.5956, prev_frame_loss_waypoint_0: 0.2061, prev_frame_loss_rl_bc_0: 0.0246, loss: 1.6743, grad_norm: 62.1681, il_score_sum: 62.2537, rl_score_sum: 63.7737, score_diff: -1.5200, il_win: 75.0000, rl_win: 163.3000
2025-09-24 09:15:13,613 - mmdet - INFO - Epoch [11][2500/3517]	lr: 3.149e-05, eta: 10:25:02, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.2090, debug_std_frame_0: 0.2681, debug_std_frame_1: 0.3085, debug_std_frame_2: 0.3589, debug_std_frame_3: 0.4095, debug_std_frame_4: 0.4628, debug_std_frame_5: 0.5147, loss_rl: -0.2454, loss_critic: 1.3386, loss_rl_bc: 0.0177, il_score: 0.6391, rl_score: 0.6417, prev_frame_loss_waypoint_0: 0.2107, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5685, grad_norm: 63.2951, il_score_sum: 62.2537, rl_score_sum: 63.7737, score_diff: -1.5200, il_win: 75.0000, rl_win: 163.3000
2025-09-24 09:15:29,467 - mmdet - INFO - Epoch [11][2520/3517]	lr: 3.149e-05, eta: 10:24:46, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1928, debug_std_frame_0: 0.2586, debug_std_frame_1: 0.2996, debug_std_frame_2: 0.3498, debug_std_frame_3: 0.4048, debug_std_frame_4: 0.4598, debug_std_frame_5: 0.5156, loss_rl: -0.2453, loss_critic: 1.3689, loss_rl_bc: 0.0145, il_score: 0.6184, rl_score: 0.6375, prev_frame_loss_waypoint_0: 0.2165, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.5868, grad_norm: 55.0381, il_score_sum: 62.2537, rl_score_sum: 63.7737, score_diff: -1.5200, il_win: 75.0000, rl_win: 163.3000
2025-09-24 09:15:45,453 - mmdet - INFO - Epoch [11][2540/3517]	lr: 3.149e-05, eta: 10:24:30, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0230, loss_waypoint: 0.1927, debug_std_frame_0: 0.2527, debug_std_frame_1: 0.2910, debug_std_frame_2: 0.3380, debug_std_frame_3: 0.3924, debug_std_frame_4: 0.4459, debug_std_frame_5: 0.4995, loss_rl: -0.2268, loss_critic: 1.4068, loss_rl_bc: 0.0139, il_score: 0.6369, rl_score: 0.6298, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.6378, grad_norm: 53.3540, il_score_sum: 62.3528, rl_score_sum: 63.8835, score_diff: -1.5308, il_win: 75.0000, rl_win: 163.9000
2025-09-24 09:16:01,532 - mmdet - INFO - Epoch [11][2560/3517]	lr: 3.149e-05, eta: 10:24:14, time: 0.803, data_time: 0.010, memory: 8550, loss_rec: 0.0223, loss_waypoint: 0.1948, debug_std_frame_0: 0.2350, debug_std_frame_1: 0.2716, debug_std_frame_2: 0.3184, debug_std_frame_3: 0.3732, debug_std_frame_4: 0.4281, debug_std_frame_5: 0.4816, loss_rl: -0.2743, loss_critic: 1.3848, loss_rl_bc: 0.0130, il_score: 0.6419, rl_score: 0.6734, prev_frame_loss_waypoint_0: 0.2006, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.5550, grad_norm: 52.3559, il_score_sum: 62.3528, rl_score_sum: 63.8835, score_diff: -1.5308, il_win: 75.0000, rl_win: 163.9000
2025-09-24 09:16:17,550 - mmdet - INFO - Epoch [11][2580/3517]	lr: 3.149e-05, eta: 10:23:58, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.2053, debug_std_frame_0: 0.2283, debug_std_frame_1: 0.2626, debug_std_frame_2: 0.3146, debug_std_frame_3: 0.3718, debug_std_frame_4: 0.4281, debug_std_frame_5: 0.4870, loss_rl: -0.2136, loss_critic: 1.3113, loss_rl_bc: 0.0188, il_score: 0.5818, rl_score: 0.6248, prev_frame_loss_waypoint_0: 0.2112, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5727, grad_norm: 47.2117, il_score_sum: 62.3528, rl_score_sum: 63.8835, score_diff: -1.5308, il_win: 75.0000, rl_win: 163.9000
2025-09-24 09:16:33,409 - mmdet - INFO - Epoch [11][2600/3517]	lr: 3.149e-05, eta: 10:23:41, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1966, debug_std_frame_0: 0.2215, debug_std_frame_1: 0.2548, debug_std_frame_2: 0.3077, debug_std_frame_3: 0.3649, debug_std_frame_4: 0.4207, debug_std_frame_5: 0.4800, loss_rl: -0.1922, loss_critic: 1.3954, loss_rl_bc: 0.0105, il_score: 0.6155, rl_score: 0.6437, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6573, grad_norm: 58.5562, il_score_sum: 62.3528, rl_score_sum: 63.8835, score_diff: -1.5308, il_win: 75.0000, rl_win: 163.9000
2025-09-24 09:16:49,263 - mmdet - INFO - Epoch [11][2620/3517]	lr: 3.149e-05, eta: 10:23:25, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2054, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2666, debug_std_frame_2: 0.3154, debug_std_frame_3: 0.3691, debug_std_frame_4: 0.4241, debug_std_frame_5: 0.4786, loss_rl: -0.2363, loss_critic: 1.4821, loss_rl_bc: 0.0106, il_score: 0.6240, rl_score: 0.6408, prev_frame_loss_waypoint_0: 0.2227, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.7237, grad_norm: 60.9563, il_score_sum: 62.3528, rl_score_sum: 63.8835, score_diff: -1.5308, il_win: 75.0000, rl_win: 163.9000
2025-09-24 09:17:05,357 - mmdet - INFO - Epoch [11][2640/3517]	lr: 3.149e-05, eta: 10:23:09, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1995, debug_std_frame_0: 0.2268, debug_std_frame_1: 0.2640, debug_std_frame_2: 0.3144, debug_std_frame_3: 0.3701, debug_std_frame_4: 0.4301, debug_std_frame_5: 0.4865, loss_rl: -0.2013, loss_critic: 1.1501, loss_rl_bc: 0.0110, il_score: 0.6235, rl_score: 0.6281, prev_frame_loss_waypoint_0: 0.2285, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.4288, grad_norm: 71.0301, il_score_sum: 62.2934, rl_score_sum: 63.8343, score_diff: -1.5409, il_win: 75.0000, rl_win: 164.5000
2025-09-24 09:17:21,260 - mmdet - INFO - Epoch [11][2660/3517]	lr: 3.149e-05, eta: 10:22:53, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2135, debug_std_frame_0: 0.2303, debug_std_frame_1: 0.2688, debug_std_frame_2: 0.3227, debug_std_frame_3: 0.3824, debug_std_frame_4: 0.4427, debug_std_frame_5: 0.5014, loss_rl: -0.2012, loss_critic: 1.5685, loss_rl_bc: 0.0178, il_score: 0.6033, rl_score: 0.6018, prev_frame_loss_waypoint_0: 0.2460, prev_frame_loss_rl_bc_0: 0.0253, loss: 1.8965, grad_norm: 66.6494, il_score_sum: 62.2934, rl_score_sum: 63.8343, score_diff: -1.5409, il_win: 75.0000, rl_win: 164.5000
2025-09-24 09:17:37,150 - mmdet - INFO - Epoch [11][2680/3517]	lr: 3.149e-05, eta: 10:22:37, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2116, debug_std_frame_0: 0.2515, debug_std_frame_1: 0.2908, debug_std_frame_2: 0.3461, debug_std_frame_3: 0.4046, debug_std_frame_4: 0.4694, debug_std_frame_5: 0.5269, loss_rl: -0.2305, loss_critic: 1.2902, loss_rl_bc: 0.0159, il_score: 0.6097, rl_score: 0.6509, prev_frame_loss_waypoint_0: 0.2167, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.5419, grad_norm: 76.6394, il_score_sum: 62.2934, rl_score_sum: 63.8343, score_diff: -1.5409, il_win: 75.0000, rl_win: 164.5000
2025-09-24 09:17:52,980 - mmdet - INFO - Epoch [11][2700/3517]	lr: 3.149e-05, eta: 10:22:20, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2004, debug_std_frame_0: 0.2408, debug_std_frame_1: 0.2805, debug_std_frame_2: 0.3363, debug_std_frame_3: 0.3947, debug_std_frame_4: 0.4591, debug_std_frame_5: 0.5217, loss_rl: -0.2252, loss_critic: 1.1561, loss_rl_bc: 0.0142, il_score: 0.6386, rl_score: 0.6419, prev_frame_loss_waypoint_0: 0.2004, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.3839, grad_norm: 41.5045, il_score_sum: 62.2934, rl_score_sum: 63.8343, score_diff: -1.5409, il_win: 75.0000, rl_win: 164.5000
2025-09-24 09:18:08,947 - mmdet - INFO - Epoch [11][2720/3517]	lr: 3.149e-05, eta: 10:22:04, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2081, debug_std_frame_0: 0.2325, debug_std_frame_1: 0.2661, debug_std_frame_2: 0.3193, debug_std_frame_3: 0.3771, debug_std_frame_4: 0.4392, debug_std_frame_5: 0.4974, loss_rl: -0.2249, loss_critic: 1.2643, loss_rl_bc: 0.0190, il_score: 0.6345, rl_score: 0.6513, prev_frame_loss_waypoint_0: 0.2208, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.5306, grad_norm: 45.7063, il_score_sum: 62.2934, rl_score_sum: 63.8343, score_diff: -1.5409, il_win: 75.0000, rl_win: 164.5000
2025-09-24 09:18:24,874 - mmdet - INFO - Epoch [11][2740/3517]	lr: 3.149e-05, eta: 10:21:48, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1946, debug_std_frame_0: 0.2259, debug_std_frame_1: 0.2597, debug_std_frame_2: 0.3105, debug_std_frame_3: 0.3662, debug_std_frame_4: 0.4239, debug_std_frame_5: 0.4798, loss_rl: -0.2391, loss_critic: 1.3811, loss_rl_bc: 0.0128, il_score: 0.6404, rl_score: 0.6632, prev_frame_loss_waypoint_0: 0.2018, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.5876, grad_norm: 56.5746, il_score_sum: 62.3828, rl_score_sum: 63.8978, score_diff: -1.5151, il_win: 75.0000, rl_win: 165.1000
2025-09-24 09:18:40,700 - mmdet - INFO - Epoch [11][2760/3517]	lr: 3.149e-05, eta: 10:21:32, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1929, debug_std_frame_0: 0.2230, debug_std_frame_1: 0.2582, debug_std_frame_2: 0.3090, debug_std_frame_3: 0.3648, debug_std_frame_4: 0.4248, debug_std_frame_5: 0.4830, loss_rl: -0.2427, loss_critic: 1.5466, loss_rl_bc: 0.0106, il_score: 0.6372, rl_score: 0.6407, prev_frame_loss_waypoint_0: 0.2180, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.7664, grad_norm: 63.8425, il_score_sum: 62.3828, rl_score_sum: 63.8978, score_diff: -1.5151, il_win: 75.0000, rl_win: 165.1000
2025-09-24 09:18:56,804 - mmdet - INFO - Epoch [11][2780/3517]	lr: 3.149e-05, eta: 10:21:16, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1985, debug_std_frame_0: 0.2288, debug_std_frame_1: 0.2669, debug_std_frame_2: 0.3186, debug_std_frame_3: 0.3746, debug_std_frame_4: 0.4343, debug_std_frame_5: 0.4925, loss_rl: -0.2102, loss_critic: 1.2983, loss_rl_bc: 0.0192, il_score: 0.6083, rl_score: 0.6125, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.5651, grad_norm: 42.8459, il_score_sum: 62.3828, rl_score_sum: 63.8978, score_diff: -1.5151, il_win: 75.0000, rl_win: 165.1000
2025-09-24 09:19:12,809 - mmdet - INFO - Epoch [11][2800/3517]	lr: 3.149e-05, eta: 10:21:00, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.2079, debug_std_frame_0: 0.2331, debug_std_frame_1: 0.2762, debug_std_frame_2: 0.3350, debug_std_frame_3: 0.3949, debug_std_frame_4: 0.4560, debug_std_frame_5: 0.5171, loss_rl: -0.2417, loss_critic: 1.1348, loss_rl_bc: 0.0154, il_score: 0.6305, rl_score: 0.6367, prev_frame_loss_waypoint_0: 0.2154, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.3716, grad_norm: 44.0054, il_score_sum: 62.3828, rl_score_sum: 63.8978, score_diff: -1.5151, il_win: 75.0000, rl_win: 165.1000
2025-09-24 09:19:28,758 - mmdet - INFO - Epoch [11][2820/3517]	lr: 3.149e-05, eta: 10:20:43, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1877, debug_std_frame_0: 0.2358, debug_std_frame_1: 0.2717, debug_std_frame_2: 0.3265, debug_std_frame_3: 0.3816, debug_std_frame_4: 0.4375, debug_std_frame_5: 0.4924, loss_rl: -0.2557, loss_critic: 1.3624, loss_rl_bc: 0.0111, il_score: 0.6615, rl_score: 0.6676, prev_frame_loss_waypoint_0: 0.2138, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.5572, grad_norm: 49.7239, il_score_sum: 62.3828, rl_score_sum: 63.8978, score_diff: -1.5151, il_win: 75.0000, rl_win: 165.1000
2025-09-24 09:19:44,708 - mmdet - INFO - Epoch [11][2840/3517]	lr: 3.149e-05, eta: 10:20:27, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1877, debug_std_frame_0: 0.2278, debug_std_frame_1: 0.2610, debug_std_frame_2: 0.3132, debug_std_frame_3: 0.3664, debug_std_frame_4: 0.4237, debug_std_frame_5: 0.4788, loss_rl: -0.2137, loss_critic: 1.3317, loss_rl_bc: 0.0113, il_score: 0.6364, rl_score: 0.6570, prev_frame_loss_waypoint_0: 0.2116, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.5684, grad_norm: 55.9617, il_score_sum: 62.4765, rl_score_sum: 63.8822, score_diff: -1.4057, il_win: 75.0000, rl_win: 165.6500
2025-09-24 09:20:00,453 - mmdet - INFO - Epoch [11][2860/3517]	lr: 3.149e-05, eta: 10:20:11, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.2170, debug_std_frame_0: 0.2316, debug_std_frame_1: 0.2642, debug_std_frame_2: 0.3163, debug_std_frame_3: 0.3694, debug_std_frame_4: 0.4232, debug_std_frame_5: 0.4774, loss_rl: -0.1911, loss_critic: 1.0912, loss_rl_bc: 0.0231, il_score: 0.6430, rl_score: 0.6353, prev_frame_loss_waypoint_0: 0.2156, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.4003, grad_norm: 57.2414, il_score_sum: 62.4765, rl_score_sum: 63.8822, score_diff: -1.4057, il_win: 75.0000, rl_win: 165.6500
2025-09-24 09:20:16,397 - mmdet - INFO - Epoch [11][2880/3517]	lr: 3.149e-05, eta: 10:19:55, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.2035, debug_std_frame_0: 0.2354, debug_std_frame_1: 0.2705, debug_std_frame_2: 0.3224, debug_std_frame_3: 0.3766, debug_std_frame_4: 0.4295, debug_std_frame_5: 0.4810, loss_rl: -0.1846, loss_critic: 1.4394, loss_rl_bc: 0.0181, il_score: 0.6129, rl_score: 0.6052, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0210, loss: 1.7465, grad_norm: 60.2715, il_score_sum: 62.4765, rl_score_sum: 63.8822, score_diff: -1.4057, il_win: 75.0000, rl_win: 165.6500
2025-09-24 09:20:32,333 - mmdet - INFO - Epoch [11][2900/3517]	lr: 3.149e-05, eta: 10:19:38, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.2130, debug_std_frame_0: 0.2540, debug_std_frame_1: 0.2881, debug_std_frame_2: 0.3376, debug_std_frame_3: 0.3910, debug_std_frame_4: 0.4453, debug_std_frame_5: 0.5026, loss_rl: -0.2033, loss_critic: 1.2649, loss_rl_bc: 0.0155, il_score: 0.6145, rl_score: 0.6453, prev_frame_loss_waypoint_0: 0.2111, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.5428, grad_norm: 67.1718, il_score_sum: 62.4765, rl_score_sum: 63.8822, score_diff: -1.4057, il_win: 75.0000, rl_win: 165.6500
2025-09-24 09:20:48,055 - mmdet - INFO - Epoch [11][2920/3517]	lr: 3.149e-05, eta: 10:19:22, time: 0.786, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1854, debug_std_frame_0: 0.2400, debug_std_frame_1: 0.2725, debug_std_frame_2: 0.3183, debug_std_frame_3: 0.3697, debug_std_frame_4: 0.4211, debug_std_frame_5: 0.4752, loss_rl: -0.2472, loss_critic: 1.5392, loss_rl_bc: 0.0092, il_score: 0.6125, rl_score: 0.6514, prev_frame_loss_waypoint_0: 0.1987, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.7213, grad_norm: 55.3527, il_score_sum: 62.4765, rl_score_sum: 63.8822, score_diff: -1.4057, il_win: 75.0000, rl_win: 165.6500
2025-09-24 09:21:04,084 - mmdet - INFO - Epoch [11][2940/3517]	lr: 3.149e-05, eta: 10:19:06, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2161, debug_std_frame_0: 0.2288, debug_std_frame_1: 0.2614, debug_std_frame_2: 0.3140, debug_std_frame_3: 0.3689, debug_std_frame_4: 0.4251, debug_std_frame_5: 0.4846, loss_rl: -0.2635, loss_critic: 1.2370, loss_rl_bc: 0.0142, il_score: 0.6185, rl_score: 0.6757, prev_frame_loss_waypoint_0: 0.2038, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.4455, grad_norm: 57.8841, il_score_sum: 62.4445, rl_score_sum: 63.9179, score_diff: -1.4734, il_win: 75.0000, rl_win: 166.2500
2025-09-24 09:21:20,058 - mmdet - INFO - Epoch [11][2960/3517]	lr: 3.149e-05, eta: 10:18:50, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1785, debug_std_frame_0: 0.2238, debug_std_frame_1: 0.2537, debug_std_frame_2: 0.3046, debug_std_frame_3: 0.3605, debug_std_frame_4: 0.4202, debug_std_frame_5: 0.4804, loss_rl: -0.2491, loss_critic: 1.2779, loss_rl_bc: 0.0096, il_score: 0.6466, rl_score: 0.6850, prev_frame_loss_waypoint_0: 0.1917, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.4471, grad_norm: 42.8416, il_score_sum: 62.4445, rl_score_sum: 63.9179, score_diff: -1.4734, il_win: 75.0000, rl_win: 166.2500
2025-09-24 09:21:35,976 - mmdet - INFO - Epoch [11][2980/3517]	lr: 3.149e-05, eta: 10:18:34, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1984, debug_std_frame_0: 0.2165, debug_std_frame_1: 0.2426, debug_std_frame_2: 0.2971, debug_std_frame_3: 0.3581, debug_std_frame_4: 0.4177, debug_std_frame_5: 0.4773, loss_rl: -0.2196, loss_critic: 1.5560, loss_rl_bc: 0.0115, il_score: 0.6167, rl_score: 0.6560, prev_frame_loss_waypoint_0: 0.2093, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.7963, grad_norm: 56.5350, il_score_sum: 62.4445, rl_score_sum: 63.9179, score_diff: -1.4734, il_win: 75.0000, rl_win: 166.2500
2025-09-24 09:21:51,811 - mmdet - INFO - Epoch [11][3000/3517]	lr: 3.149e-05, eta: 10:18:17, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1761, debug_std_frame_0: 0.2213, debug_std_frame_1: 0.2457, debug_std_frame_2: 0.2929, debug_std_frame_3: 0.3489, debug_std_frame_4: 0.4024, debug_std_frame_5: 0.4594, loss_rl: -0.2360, loss_critic: 1.5855, loss_rl_bc: 0.0079, il_score: 0.6187, rl_score: 0.6460, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.7801, grad_norm: 58.3651, il_score_sum: 62.4445, rl_score_sum: 63.9179, score_diff: -1.4734, il_win: 75.0000, rl_win: 166.2500
2025-09-24 09:22:07,728 - mmdet - INFO - Epoch [11][3020/3517]	lr: 3.149e-05, eta: 10:18:01, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1987, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2464, debug_std_frame_2: 0.2988, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4169, debug_std_frame_5: 0.4778, loss_rl: -0.2189, loss_critic: 1.2806, loss_rl_bc: 0.0144, il_score: 0.6418, rl_score: 0.6522, prev_frame_loss_waypoint_0: 0.2058, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.5228, grad_norm: 43.7177, il_score_sum: 62.4445, rl_score_sum: 63.9179, score_diff: -1.4734, il_win: 75.0000, rl_win: 166.2500
2025-09-24 09:22:23,886 - mmdet - INFO - Epoch [11][3040/3517]	lr: 3.149e-05, eta: 10:17:45, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0234, loss_waypoint: 0.1922, debug_std_frame_0: 0.2276, debug_std_frame_1: 0.2636, debug_std_frame_2: 0.3158, debug_std_frame_3: 0.3736, debug_std_frame_4: 0.4325, debug_std_frame_5: 0.4883, loss_rl: -0.2743, loss_critic: 1.3195, loss_rl_bc: 0.0091, il_score: 0.6465, rl_score: 0.6815, prev_frame_loss_waypoint_0: 0.2308, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.5141, grad_norm: 58.0035, il_score_sum: 62.3678, rl_score_sum: 63.9837, score_diff: -1.6159, il_win: 75.0000, rl_win: 166.9000
2025-09-24 09:22:39,757 - mmdet - INFO - Epoch [11][3060/3517]	lr: 3.149e-05, eta: 10:17:29, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2225, debug_std_frame_0: 0.2278, debug_std_frame_1: 0.2694, debug_std_frame_2: 0.3299, debug_std_frame_3: 0.3989, debug_std_frame_4: 0.4651, debug_std_frame_5: 0.5279, loss_rl: -0.1582, loss_critic: 1.6851, loss_rl_bc: 0.0255, il_score: 0.5642, rl_score: 0.5744, prev_frame_loss_waypoint_0: 0.2338, prev_frame_loss_rl_bc_0: 0.0262, loss: 2.0609, grad_norm: 76.7429, il_score_sum: 62.3678, rl_score_sum: 63.9837, score_diff: -1.6159, il_win: 75.0000, rl_win: 166.9000
2025-09-24 09:22:55,626 - mmdet - INFO - Epoch [11][3080/3517]	lr: 3.149e-05, eta: 10:17:13, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1955, debug_std_frame_0: 0.2505, debug_std_frame_1: 0.2903, debug_std_frame_2: 0.3414, debug_std_frame_3: 0.4036, debug_std_frame_4: 0.4637, debug_std_frame_5: 0.5245, loss_rl: -0.1467, loss_critic: 1.1238, loss_rl_bc: 0.0231, il_score: 0.6461, rl_score: 0.6110, prev_frame_loss_waypoint_0: 0.2039, prev_frame_loss_rl_bc_0: 0.0258, loss: 1.4519, grad_norm: 55.7501, il_score_sum: 62.3678, rl_score_sum: 63.9837, score_diff: -1.6159, il_win: 75.0000, rl_win: 166.9000
2025-09-24 09:23:11,442 - mmdet - INFO - Epoch [11][3100/3517]	lr: 3.149e-05, eta: 10:16:56, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1994, debug_std_frame_0: 0.2752, debug_std_frame_1: 0.3121, debug_std_frame_2: 0.3611, debug_std_frame_3: 0.4153, debug_std_frame_4: 0.4708, debug_std_frame_5: 0.5314, loss_rl: -0.2287, loss_critic: 1.4137, loss_rl_bc: 0.0211, il_score: 0.5904, rl_score: 0.5941, prev_frame_loss_waypoint_0: 0.2000, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.6557, grad_norm: 61.0560, il_score_sum: 62.3678, rl_score_sum: 63.9837, score_diff: -1.6159, il_win: 75.0000, rl_win: 166.9000
2025-09-24 09:23:27,117 - mmdet - INFO - Epoch [11][3120/3517]	lr: 3.149e-05, eta: 10:16:40, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1857, debug_std_frame_0: 0.2734, debug_std_frame_1: 0.3153, debug_std_frame_2: 0.3652, debug_std_frame_3: 0.4233, debug_std_frame_4: 0.4867, debug_std_frame_5: 0.5485, loss_rl: -0.2482, loss_critic: 1.3689, loss_rl_bc: 0.0161, il_score: 0.6420, rl_score: 0.6459, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.5714, grad_norm: 40.2646, il_score_sum: 62.3678, rl_score_sum: 63.9837, score_diff: -1.6159, il_win: 75.0000, rl_win: 166.9000
2025-09-24 09:23:43,113 - mmdet - INFO - Epoch [11][3140/3517]	lr: 3.149e-05, eta: 10:16:24, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1960, debug_std_frame_0: 0.2632, debug_std_frame_1: 0.3008, debug_std_frame_2: 0.3505, debug_std_frame_3: 0.4095, debug_std_frame_4: 0.4678, debug_std_frame_5: 0.5253, loss_rl: -0.1954, loss_critic: 1.5553, loss_rl_bc: 0.0274, il_score: 0.6114, rl_score: 0.5793, prev_frame_loss_waypoint_0: 0.2135, prev_frame_loss_rl_bc_0: 0.0298, loss: 1.8529, grad_norm: 58.3195, il_score_sum: 62.3688, rl_score_sum: 63.9673, score_diff: -1.5985, il_win: 75.0000, rl_win: 167.5500
2025-09-24 09:23:58,972 - mmdet - INFO - Epoch [11][3160/3517]	lr: 3.149e-05, eta: 10:16:07, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1934, debug_std_frame_0: 0.2918, debug_std_frame_1: 0.3285, debug_std_frame_2: 0.3805, debug_std_frame_3: 0.4380, debug_std_frame_4: 0.4987, debug_std_frame_5: 0.5593, loss_rl: -0.1844, loss_critic: 1.3810, loss_rl_bc: 0.0321, il_score: 0.6341, rl_score: 0.5993, prev_frame_loss_waypoint_0: 0.1987, prev_frame_loss_rl_bc_0: 0.0288, loss: 1.6761, grad_norm: 54.5153, il_score_sum: 62.3688, rl_score_sum: 63.9673, score_diff: -1.5985, il_win: 75.0000, rl_win: 167.5500
2025-09-24 09:24:14,823 - mmdet - INFO - Epoch [11][3180/3517]	lr: 3.149e-05, eta: 10:15:51, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1823, debug_std_frame_0: 0.3014, debug_std_frame_1: 0.3342, debug_std_frame_2: 0.3822, debug_std_frame_3: 0.4342, debug_std_frame_4: 0.4890, debug_std_frame_5: 0.5446, loss_rl: -0.2496, loss_critic: 1.3670, loss_rl_bc: 0.0211, il_score: 0.6089, rl_score: 0.5995, prev_frame_loss_waypoint_0: 0.2013, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5697, grad_norm: 54.9308, il_score_sum: 62.3688, rl_score_sum: 63.9673, score_diff: -1.5985, il_win: 75.0000, rl_win: 167.5500
2025-09-24 09:24:30,647 - mmdet - INFO - Epoch [11][3200/3517]	lr: 3.149e-05, eta: 10:15:35, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1871, debug_std_frame_0: 0.3068, debug_std_frame_1: 0.3372, debug_std_frame_2: 0.3858, debug_std_frame_3: 0.4382, debug_std_frame_4: 0.4957, debug_std_frame_5: 0.5506, loss_rl: -0.1790, loss_critic: 1.1937, loss_rl_bc: 0.0166, il_score: 0.6284, rl_score: 0.6287, prev_frame_loss_waypoint_0: 0.2179, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.4808, grad_norm: 52.0583, il_score_sum: 62.3688, rl_score_sum: 63.9673, score_diff: -1.5985, il_win: 75.0000, rl_win: 167.5500
2025-09-24 09:24:46,517 - mmdet - INFO - Epoch [11][3220/3517]	lr: 3.149e-05, eta: 10:15:19, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1872, debug_std_frame_0: 0.2838, debug_std_frame_1: 0.3139, debug_std_frame_2: 0.3598, debug_std_frame_3: 0.4118, debug_std_frame_4: 0.4682, debug_std_frame_5: 0.5231, loss_rl: -0.2383, loss_critic: 1.1360, loss_rl_bc: 0.0188, il_score: 0.6391, rl_score: 0.6229, prev_frame_loss_waypoint_0: 0.2215, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.3740, grad_norm: 46.5621, il_score_sum: 62.3688, rl_score_sum: 63.9673, score_diff: -1.5985, il_win: 75.0000, rl_win: 167.5500
2025-09-24 09:25:02,451 - mmdet - INFO - Epoch [11][3240/3517]	lr: 3.149e-05, eta: 10:15:02, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1977, debug_std_frame_0: 0.2605, debug_std_frame_1: 0.2914, debug_std_frame_2: 0.3359, debug_std_frame_3: 0.3891, debug_std_frame_4: 0.4451, debug_std_frame_5: 0.5017, loss_rl: -0.2265, loss_critic: 1.7378, loss_rl_bc: 0.0174, il_score: 0.6512, rl_score: 0.6408, prev_frame_loss_waypoint_0: 0.2008, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.9693, grad_norm: 45.2866, il_score_sum: 62.4216, rl_score_sum: 63.7495, score_diff: -1.3279, il_win: 75.0500, rl_win: 168.1500
2025-09-24 09:25:18,156 - mmdet - INFO - Epoch [11][3260/3517]	lr: 3.149e-05, eta: 10:14:46, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1609, debug_std_frame_0: 0.2451, debug_std_frame_1: 0.2708, debug_std_frame_2: 0.3109, debug_std_frame_3: 0.3579, debug_std_frame_4: 0.4084, debug_std_frame_5: 0.4626, loss_rl: -0.2572, loss_critic: 1.3535, loss_rl_bc: 0.0054, il_score: 0.6658, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.1881, prev_frame_loss_rl_bc_0: 0.0107, loss: 1.4871, grad_norm: 45.9823, il_score_sum: 62.4216, rl_score_sum: 63.7495, score_diff: -1.3279, il_win: 75.0500, rl_win: 168.1500
2025-09-24 09:25:34,052 - mmdet - INFO - Epoch [11][3280/3517]	lr: 3.149e-05, eta: 10:14:30, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1930, debug_std_frame_0: 0.2400, debug_std_frame_1: 0.2659, debug_std_frame_2: 0.3099, debug_std_frame_3: 0.3633, debug_std_frame_4: 0.4175, debug_std_frame_5: 0.4695, loss_rl: -0.2983, loss_critic: 1.2894, loss_rl_bc: 0.0071, il_score: 0.6337, rl_score: 0.6960, prev_frame_loss_waypoint_0: 0.2323, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.4637, grad_norm: 60.4476, il_score_sum: 62.4216, rl_score_sum: 63.7495, score_diff: -1.3279, il_win: 75.0500, rl_win: 168.1500
2025-09-24 09:25:49,974 - mmdet - INFO - Epoch [11][3300/3517]	lr: 3.149e-05, eta: 10:14:14, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1621, debug_std_frame_0: 0.2417, debug_std_frame_1: 0.2661, debug_std_frame_2: 0.3070, debug_std_frame_3: 0.3571, debug_std_frame_4: 0.4094, debug_std_frame_5: 0.4624, loss_rl: -0.2853, loss_critic: 1.6894, loss_rl_bc: 0.0074, il_score: 0.6535, rl_score: 0.6732, prev_frame_loss_waypoint_0: 0.1891, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.7981, grad_norm: 50.8232, il_score_sum: 62.4216, rl_score_sum: 63.7495, score_diff: -1.3279, il_win: 75.0500, rl_win: 168.1500
2025-09-24 09:26:05,715 - mmdet - INFO - Epoch [11][3320/3517]	lr: 3.149e-05, eta: 10:13:57, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2046, debug_std_frame_0: 0.2393, debug_std_frame_1: 0.2716, debug_std_frame_2: 0.3222, debug_std_frame_3: 0.3830, debug_std_frame_4: 0.4474, debug_std_frame_5: 0.5094, loss_rl: -0.2040, loss_critic: 1.2196, loss_rl_bc: 0.0206, il_score: 0.6132, rl_score: 0.6239, prev_frame_loss_waypoint_0: 0.2080, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.4926, grad_norm: 51.8211, il_score_sum: 62.4216, rl_score_sum: 63.7495, score_diff: -1.3279, il_win: 75.0500, rl_win: 168.1500
2025-09-24 09:26:21,741 - mmdet - INFO - Epoch [11][3340/3517]	lr: 3.149e-05, eta: 10:13:41, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1963, debug_std_frame_0: 0.2341, debug_std_frame_1: 0.2647, debug_std_frame_2: 0.3137, debug_std_frame_3: 0.3754, debug_std_frame_4: 0.4392, debug_std_frame_5: 0.5002, loss_rl: -0.2303, loss_critic: 1.0708, loss_rl_bc: 0.0159, il_score: 0.6422, rl_score: 0.6529, prev_frame_loss_waypoint_0: 0.2261, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.3239, grad_norm: 36.2070, il_score_sum: 62.5362, rl_score_sum: 63.9607, score_diff: -1.4245, il_win: 75.1000, rl_win: 168.8000
2025-09-24 09:26:37,796 - mmdet - INFO - Epoch [11][3360/3517]	lr: 3.149e-05, eta: 10:13:25, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2076, debug_std_frame_0: 0.2361, debug_std_frame_1: 0.2695, debug_std_frame_2: 0.3243, debug_std_frame_3: 0.3904, debug_std_frame_4: 0.4579, debug_std_frame_5: 0.5244, loss_rl: -0.2171, loss_critic: 1.1170, loss_rl_bc: 0.0132, il_score: 0.5805, rl_score: 0.6138, prev_frame_loss_waypoint_0: 0.2249, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.3873, grad_norm: 58.1605, il_score_sum: 62.5362, rl_score_sum: 63.9607, score_diff: -1.4245, il_win: 75.1000, rl_win: 168.8000
2025-09-24 09:26:53,807 - mmdet - INFO - Epoch [11][3380/3517]	lr: 3.149e-05, eta: 10:13:09, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1880, debug_std_frame_0: 0.2351, debug_std_frame_1: 0.2644, debug_std_frame_2: 0.3126, debug_std_frame_3: 0.3703, debug_std_frame_4: 0.4281, debug_std_frame_5: 0.4884, loss_rl: -0.1949, loss_critic: 1.1924, loss_rl_bc: 0.0150, il_score: 0.6434, rl_score: 0.6525, prev_frame_loss_waypoint_0: 0.1999, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.4395, grad_norm: 62.7559, il_score_sum: 62.5362, rl_score_sum: 63.9607, score_diff: -1.4245, il_win: 75.1000, rl_win: 168.8000
2025-09-24 09:27:09,597 - mmdet - INFO - Epoch [11][3400/3517]	lr: 3.149e-05, eta: 10:12:53, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1945, debug_std_frame_0: 0.2321, debug_std_frame_1: 0.2609, debug_std_frame_2: 0.3112, debug_std_frame_3: 0.3710, debug_std_frame_4: 0.4332, debug_std_frame_5: 0.4944, loss_rl: -0.2448, loss_critic: 1.2760, loss_rl_bc: 0.0114, il_score: 0.6140, rl_score: 0.6556, prev_frame_loss_waypoint_0: 0.1983, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4743, grad_norm: 58.5457, il_score_sum: 62.5362, rl_score_sum: 63.9607, score_diff: -1.4245, il_win: 75.1000, rl_win: 168.8000
2025-09-24 09:27:25,551 - mmdet - INFO - Epoch [11][3420/3517]	lr: 3.149e-05, eta: 10:12:36, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.2116, debug_std_frame_0: 0.2350, debug_std_frame_1: 0.2625, debug_std_frame_2: 0.3115, debug_std_frame_3: 0.3676, debug_std_frame_4: 0.4252, debug_std_frame_5: 0.4837, loss_rl: -0.1937, loss_critic: 1.3522, loss_rl_bc: 0.0149, il_score: 0.6210, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2432, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.6730, grad_norm: 80.7643, il_score_sum: 62.5362, rl_score_sum: 63.9607, score_diff: -1.4245, il_win: 75.1000, rl_win: 168.8000
2025-09-24 09:27:41,499 - mmdet - INFO - Epoch [11][3440/3517]	lr: 3.149e-05, eta: 10:12:20, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.2199, debug_std_frame_0: 0.2227, debug_std_frame_1: 0.2569, debug_std_frame_2: 0.3110, debug_std_frame_3: 0.3703, debug_std_frame_4: 0.4323, debug_std_frame_5: 0.4932, loss_rl: -0.2838, loss_critic: 1.5047, loss_rl_bc: 0.0165, il_score: 0.6146, rl_score: 0.6268, prev_frame_loss_waypoint_0: 0.2416, prev_frame_loss_rl_bc_0: 0.0214, loss: 1.7466, grad_norm: 66.2941, il_score_sum: 62.5621, rl_score_sum: 64.1214, score_diff: -1.5593, il_win: 75.1500, rl_win: 169.5000
2025-09-24 09:27:57,440 - mmdet - INFO - Epoch [11][3460/3517]	lr: 3.149e-05, eta: 10:12:04, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2111, debug_std_frame_0: 0.2311, debug_std_frame_1: 0.2673, debug_std_frame_2: 0.3243, debug_std_frame_3: 0.3830, debug_std_frame_4: 0.4431, debug_std_frame_5: 0.5012, loss_rl: -0.2256, loss_critic: 1.3665, loss_rl_bc: 0.0168, il_score: 0.6278, rl_score: 0.6433, prev_frame_loss_waypoint_0: 0.2243, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.6354, grad_norm: 52.0788, il_score_sum: 62.5621, rl_score_sum: 64.1214, score_diff: -1.5593, il_win: 75.1500, rl_win: 169.5000
2025-09-24 09:28:13,340 - mmdet - INFO - Epoch [11][3480/3517]	lr: 3.149e-05, eta: 10:11:48, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1838, debug_std_frame_0: 0.2319, debug_std_frame_1: 0.2674, debug_std_frame_2: 0.3215, debug_std_frame_3: 0.3810, debug_std_frame_4: 0.4408, debug_std_frame_5: 0.5060, loss_rl: -0.2291, loss_critic: 1.2488, loss_rl_bc: 0.0125, il_score: 0.6594, rl_score: 0.6607, prev_frame_loss_waypoint_0: 0.1966, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4515, grad_norm: 45.9270, il_score_sum: 62.5621, rl_score_sum: 64.1214, score_diff: -1.5593, il_win: 75.1500, rl_win: 169.5000
2025-09-24 09:28:29,170 - mmdet - INFO - Epoch [11][3500/3517]	lr: 3.149e-05, eta: 10:11:32, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1840, debug_std_frame_0: 0.2349, debug_std_frame_1: 0.2685, debug_std_frame_2: 0.3192, debug_std_frame_3: 0.3743, debug_std_frame_4: 0.4330, debug_std_frame_5: 0.4909, loss_rl: -0.2594, loss_critic: 1.5286, loss_rl_bc: 0.0242, il_score: 0.6305, rl_score: 0.6493, prev_frame_loss_waypoint_0: 0.1914, prev_frame_loss_rl_bc_0: 0.0228, loss: 1.7176, grad_norm: 52.2658, il_score_sum: 62.5621, rl_score_sum: 64.1214, score_diff: -1.5593, il_win: 75.1500, rl_win: 169.5000
2025-09-24 09:28:42,220 - mmdet - INFO - Saving checkpoint at 11 epochs
2025-09-24 09:31:16,727 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 09:31:16,728 - mmdet - INFO - Epoch(val) [11][753]	plan_L2_1s: 0.6762, plan_L2_2s: 1.1846, plan_L2_3s: 1.7535, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0013, plan_obj_box_col_2s: 0.0069, plan_obj_box_col_3s: 0.0151, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.5756, plan_L2_2s_rl_actor: 1.0241, plan_L2_3s_rl_actor: 1.5348, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0081, plan_obj_box_col_2s_rl_actor: 0.0113, plan_obj_box_col_3s_rl_actor: 0.0196, fut_valid_flag_rl_actor: 1.0000
2025-09-24 09:31:46,772 - mmdet - INFO - Epoch [12][20/3517]	lr: 2.828e-05, eta: 10:11:02, time: 1.501, data_time: 0.323, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.2001, debug_std_frame_0: 0.2628, debug_std_frame_1: 0.2969, debug_std_frame_2: 0.3452, debug_std_frame_3: 0.3978, debug_std_frame_4: 0.4543, debug_std_frame_5: 0.5124, loss_rl: -0.1991, loss_critic: 1.4582, loss_rl_bc: 0.0220, il_score: 0.6198, rl_score: 0.6207, prev_frame_loss_waypoint_0: 0.2010, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.7247, grad_norm: 61.5678, il_score_sum: 63.2929, rl_score_sum: 63.8870, score_diff: -0.5941, il_win: 76.0000, rl_win: 176.0000
2025-09-24 09:32:03,493 - mmdet - INFO - Epoch [12][40/3517]	lr: 2.828e-05, eta: 10:10:47, time: 0.836, data_time: 0.014, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2049, debug_std_frame_0: 0.2616, debug_std_frame_1: 0.2983, debug_std_frame_2: 0.3452, debug_std_frame_3: 0.3988, debug_std_frame_4: 0.4541, debug_std_frame_5: 0.5121, loss_rl: -0.2336, loss_critic: 1.3270, loss_rl_bc: 0.0134, il_score: 0.6045, rl_score: 0.6429, prev_frame_loss_waypoint_0: 0.2204, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.5752, grad_norm: 67.9410, il_score_sum: 63.2929, rl_score_sum: 63.8870, score_diff: -0.5941, il_win: 76.0000, rl_win: 176.0000
2025-09-24 09:32:20,131 - mmdet - INFO - Epoch [12][60/3517]	lr: 2.828e-05, eta: 10:10:32, time: 0.832, data_time: 0.015, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1741, debug_std_frame_0: 0.2562, debug_std_frame_1: 0.2869, debug_std_frame_2: 0.3280, debug_std_frame_3: 0.3765, debug_std_frame_4: 0.4282, debug_std_frame_5: 0.4826, loss_rl: -0.2508, loss_critic: 1.6491, loss_rl_bc: 0.0092, il_score: 0.6339, rl_score: 0.6214, prev_frame_loss_waypoint_0: 0.1852, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.8036, grad_norm: 54.3790, il_score_sum: 63.2929, rl_score_sum: 63.8870, score_diff: -0.5941, il_win: 76.0000, rl_win: 176.0000
2025-09-24 09:32:36,565 - mmdet - INFO - Epoch [12][80/3517]	lr: 2.828e-05, eta: 10:10:16, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1813, debug_std_frame_0: 0.2370, debug_std_frame_1: 0.2721, debug_std_frame_2: 0.3234, debug_std_frame_3: 0.3792, debug_std_frame_4: 0.4373, debug_std_frame_5: 0.5007, loss_rl: -0.2697, loss_critic: 1.4530, loss_rl_bc: 0.0089, il_score: 0.6583, rl_score: 0.6878, prev_frame_loss_waypoint_0: 0.1972, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.6032, grad_norm: 57.8618, il_score_sum: 63.2929, rl_score_sum: 63.8870, score_diff: -0.5941, il_win: 76.0000, rl_win: 176.0000
2025-09-24 09:32:53,081 - mmdet - INFO - Epoch [12][100/3517]	lr: 2.828e-05, eta: 10:10:01, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.2329, debug_std_frame_0: 0.2277, debug_std_frame_1: 0.2584, debug_std_frame_2: 0.3103, debug_std_frame_3: 0.3647, debug_std_frame_4: 0.4216, debug_std_frame_5: 0.4820, loss_rl: -0.2479, loss_critic: 1.4728, loss_rl_bc: 0.0177, il_score: 0.5921, rl_score: 0.6479, prev_frame_loss_waypoint_0: 0.2564, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.7810, grad_norm: 76.0406, il_score_sum: 63.2929, rl_score_sum: 63.8870, score_diff: -0.5941, il_win: 76.0000, rl_win: 176.0000
2025-09-24 09:33:09,933 - mmdet - INFO - Epoch [12][120/3517]	lr: 2.828e-05, eta: 10:09:46, time: 0.843, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.2109, debug_std_frame_0: 0.2333, debug_std_frame_1: 0.2656, debug_std_frame_2: 0.3156, debug_std_frame_3: 0.3699, debug_std_frame_4: 0.4243, debug_std_frame_5: 0.4838, loss_rl: -0.2372, loss_critic: 1.3622, loss_rl_bc: 0.0150, il_score: 0.6521, rl_score: 0.6709, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5919, grad_norm: 57.1407, il_score_sum: 62.8819, rl_score_sum: 64.5133, score_diff: -1.6315, il_win: 76.0000, rl_win: 176.5000
2025-09-24 09:33:26,556 - mmdet - INFO - Epoch [12][140/3517]	lr: 2.828e-05, eta: 10:09:30, time: 0.831, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2026, debug_std_frame_0: 0.2303, debug_std_frame_1: 0.2625, debug_std_frame_2: 0.3186, debug_std_frame_3: 0.3801, debug_std_frame_4: 0.4442, debug_std_frame_5: 0.5070, loss_rl: -0.1820, loss_critic: 1.3223, loss_rl_bc: 0.0133, il_score: 0.6046, rl_score: 0.6363, prev_frame_loss_waypoint_0: 0.2252, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.6236, grad_norm: 51.8595, il_score_sum: 62.8819, rl_score_sum: 64.5133, score_diff: -1.6315, il_win: 76.0000, rl_win: 176.5000
2025-09-24 09:33:43,070 - mmdet - INFO - Epoch [12][160/3517]	lr: 2.828e-05, eta: 10:09:15, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1898, debug_std_frame_0: 0.2211, debug_std_frame_1: 0.2504, debug_std_frame_2: 0.3005, debug_std_frame_3: 0.3564, debug_std_frame_4: 0.4201, debug_std_frame_5: 0.4842, loss_rl: -0.2459, loss_critic: 1.2035, loss_rl_bc: 0.0147, il_score: 0.6479, rl_score: 0.6508, prev_frame_loss_waypoint_0: 0.1975, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.3977, grad_norm: 42.5885, il_score_sum: 62.8819, rl_score_sum: 64.5133, score_diff: -1.6315, il_win: 76.0000, rl_win: 176.5000
2025-09-24 09:33:59,532 - mmdet - INFO - Epoch [12][180/3517]	lr: 2.828e-05, eta: 10:08:59, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1996, debug_std_frame_0: 0.2294, debug_std_frame_1: 0.2620, debug_std_frame_2: 0.3158, debug_std_frame_3: 0.3784, debug_std_frame_4: 0.4443, debug_std_frame_5: 0.5070, loss_rl: -0.2267, loss_critic: 1.1944, loss_rl_bc: 0.0107, il_score: 0.6134, rl_score: 0.6383, prev_frame_loss_waypoint_0: 0.2363, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.4598, grad_norm: 72.2605, il_score_sum: 62.8819, rl_score_sum: 64.5133, score_diff: -1.6315, il_win: 76.0000, rl_win: 176.5000
2025-09-24 09:34:15,792 - mmdet - INFO - Epoch [12][200/3517]	lr: 2.828e-05, eta: 10:08:43, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1822, debug_std_frame_0: 0.2297, debug_std_frame_1: 0.2592, debug_std_frame_2: 0.3130, debug_std_frame_3: 0.3707, debug_std_frame_4: 0.4308, debug_std_frame_5: 0.4912, loss_rl: -0.2060, loss_critic: 1.3826, loss_rl_bc: 0.0146, il_score: 0.6431, rl_score: 0.6306, prev_frame_loss_waypoint_0: 0.1962, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.6103, grad_norm: 42.0918, il_score_sum: 62.8819, rl_score_sum: 64.5133, score_diff: -1.6315, il_win: 76.0000, rl_win: 176.5000
2025-09-24 09:34:32,526 - mmdet - INFO - Epoch [12][220/3517]	lr: 2.828e-05, eta: 10:08:28, time: 0.837, data_time: 0.014, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1923, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2654, debug_std_frame_2: 0.3161, debug_std_frame_3: 0.3708, debug_std_frame_4: 0.4297, debug_std_frame_5: 0.4930, loss_rl: -0.2765, loss_critic: 1.4027, loss_rl_bc: 0.0123, il_score: 0.6470, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.2091, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.5814, grad_norm: 39.6832, il_score_sum: 63.0304, rl_score_sum: 64.6552, score_diff: -1.6248, il_win: 76.0000, rl_win: 177.0000
2025-09-24 09:34:48,754 - mmdet - INFO - Epoch [12][240/3517]	lr: 2.828e-05, eta: 10:08:12, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2029, debug_std_frame_0: 0.2217, debug_std_frame_1: 0.2550, debug_std_frame_2: 0.3102, debug_std_frame_3: 0.3685, debug_std_frame_4: 0.4264, debug_std_frame_5: 0.4875, loss_rl: -0.2411, loss_critic: 1.3427, loss_rl_bc: 0.0142, il_score: 0.6398, rl_score: 0.6532, prev_frame_loss_waypoint_0: 0.2321, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.5956, grad_norm: 52.2000, il_score_sum: 63.0304, rl_score_sum: 64.6552, score_diff: -1.6248, il_win: 76.0000, rl_win: 177.0000
2025-09-24 09:35:05,091 - mmdet - INFO - Epoch [12][260/3517]	lr: 2.828e-05, eta: 10:07:57, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1806, debug_std_frame_0: 0.2290, debug_std_frame_1: 0.2656, debug_std_frame_2: 0.3249, debug_std_frame_3: 0.3847, debug_std_frame_4: 0.4483, debug_std_frame_5: 0.5127, loss_rl: -0.2014, loss_critic: 1.4740, loss_rl_bc: 0.0101, il_score: 0.6335, rl_score: 0.6509, prev_frame_loss_waypoint_0: 0.2084, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.7114, grad_norm: 66.3295, il_score_sum: 63.0304, rl_score_sum: 64.6552, score_diff: -1.6248, il_win: 76.0000, rl_win: 177.0000
2025-09-24 09:35:21,583 - mmdet - INFO - Epoch [12][280/3517]	lr: 2.828e-05, eta: 10:07:41, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1842, debug_std_frame_0: 0.2322, debug_std_frame_1: 0.2618, debug_std_frame_2: 0.3112, debug_std_frame_3: 0.3646, debug_std_frame_4: 0.4235, debug_std_frame_5: 0.4887, loss_rl: -0.2818, loss_critic: 1.4676, loss_rl_bc: 0.0134, il_score: 0.6757, rl_score: 0.6775, prev_frame_loss_waypoint_0: 0.1918, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.6069, grad_norm: 58.6995, il_score_sum: 63.0304, rl_score_sum: 64.6552, score_diff: -1.6248, il_win: 76.0000, rl_win: 177.0000
2025-09-24 09:35:38,039 - mmdet - INFO - Epoch [12][300/3517]	lr: 2.828e-05, eta: 10:07:25, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1931, debug_std_frame_0: 0.2260, debug_std_frame_1: 0.2580, debug_std_frame_2: 0.3119, debug_std_frame_3: 0.3743, debug_std_frame_4: 0.4394, debug_std_frame_5: 0.5087, loss_rl: -0.2356, loss_critic: 1.2953, loss_rl_bc: 0.0110, il_score: 0.6425, rl_score: 0.6653, prev_frame_loss_waypoint_0: 0.2087, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.5110, grad_norm: 60.1965, il_score_sum: 63.0304, rl_score_sum: 64.6552, score_diff: -1.6248, il_win: 76.0000, rl_win: 177.0000
2025-09-24 09:35:54,773 - mmdet - INFO - Epoch [12][320/3517]	lr: 2.828e-05, eta: 10:07:10, time: 0.837, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.2134, debug_std_frame_0: 0.2264, debug_std_frame_1: 0.2590, debug_std_frame_2: 0.3150, debug_std_frame_3: 0.3735, debug_std_frame_4: 0.4371, debug_std_frame_5: 0.5064, loss_rl: -0.1982, loss_critic: 1.4398, loss_rl_bc: 0.0123, il_score: 0.6219, rl_score: 0.6493, prev_frame_loss_waypoint_0: 0.2234, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.7269, grad_norm: 67.6462, il_score_sum: 63.2824, rl_score_sum: 64.9606, score_diff: -1.6782, il_win: 76.0000, rl_win: 177.5000
2025-09-24 09:36:13,666 - mmdet - INFO - Epoch [12][340/3517]	lr: 2.828e-05, eta: 10:06:57, time: 0.944, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1796, debug_std_frame_0: 0.2189, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.3066, debug_std_frame_3: 0.3644, debug_std_frame_4: 0.4252, debug_std_frame_5: 0.4909, loss_rl: -0.2863, loss_critic: 1.3079, loss_rl_bc: 0.0144, il_score: 0.6695, rl_score: 0.6795, prev_frame_loss_waypoint_0: 0.2002, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.4596, grad_norm: 47.6524, il_score_sum: 63.2824, rl_score_sum: 64.9606, score_diff: -1.6782, il_win: 76.0000, rl_win: 177.5000
2025-09-24 09:36:30,045 - mmdet - INFO - Epoch [12][360/3517]	lr: 2.828e-05, eta: 10:06:42, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1692, debug_std_frame_0: 0.2260, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.3016, debug_std_frame_3: 0.3542, debug_std_frame_4: 0.4082, debug_std_frame_5: 0.4680, loss_rl: -0.2768, loss_critic: 1.1527, loss_rl_bc: 0.0091, il_score: 0.6464, rl_score: 0.6660, prev_frame_loss_waypoint_0: 0.1811, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.2685, grad_norm: 46.7909, il_score_sum: 63.2824, rl_score_sum: 64.9606, score_diff: -1.6782, il_win: 76.0000, rl_win: 177.5000
2025-09-24 09:36:46,505 - mmdet - INFO - Epoch [12][380/3517]	lr: 2.828e-05, eta: 10:06:26, time: 0.823, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1906, debug_std_frame_0: 0.2223, debug_std_frame_1: 0.2462, debug_std_frame_2: 0.2947, debug_std_frame_3: 0.3472, debug_std_frame_4: 0.3997, debug_std_frame_5: 0.4597, loss_rl: -0.2598, loss_critic: 1.2233, loss_rl_bc: 0.0127, il_score: 0.6129, rl_score: 0.6652, prev_frame_loss_waypoint_0: 0.2045, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.4157, grad_norm: 36.2352, il_score_sum: 63.2824, rl_score_sum: 64.9606, score_diff: -1.6782, il_win: 76.0000, rl_win: 177.5000
2025-09-24 09:37:02,597 - mmdet - INFO - Epoch [12][400/3517]	lr: 2.828e-05, eta: 10:06:10, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.2144, debug_std_frame_0: 0.2437, debug_std_frame_1: 0.2747, debug_std_frame_2: 0.3288, debug_std_frame_3: 0.3833, debug_std_frame_4: 0.4394, debug_std_frame_5: 0.5036, loss_rl: -0.2364, loss_critic: 1.1094, loss_rl_bc: 0.0152, il_score: 0.6220, rl_score: 0.6639, prev_frame_loss_waypoint_0: 0.2108, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.3558, grad_norm: 59.5900, il_score_sum: 63.2824, rl_score_sum: 64.9606, score_diff: -1.6782, il_win: 76.0000, rl_win: 177.5000
2025-09-24 09:37:19,429 - mmdet - INFO - Epoch [12][420/3517]	lr: 2.828e-05, eta: 10:05:55, time: 0.842, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.2149, debug_std_frame_0: 0.2383, debug_std_frame_1: 0.2683, debug_std_frame_2: 0.3218, debug_std_frame_3: 0.3745, debug_std_frame_4: 0.4347, debug_std_frame_5: 0.4958, loss_rl: -0.2411, loss_critic: 1.4358, loss_rl_bc: 0.0169, il_score: 0.6485, rl_score: 0.6440, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.6985, grad_norm: 77.7657, il_score_sum: 63.4136, rl_score_sum: 65.2643, score_diff: -1.8507, il_win: 76.0000, rl_win: 178.0000
2025-09-24 09:37:35,760 - mmdet - INFO - Epoch [12][440/3517]	lr: 2.828e-05, eta: 10:05:39, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.2028, debug_std_frame_0: 0.2355, debug_std_frame_1: 0.2665, debug_std_frame_2: 0.3251, debug_std_frame_3: 0.3806, debug_std_frame_4: 0.4419, debug_std_frame_5: 0.5045, loss_rl: -0.2224, loss_critic: 1.2446, loss_rl_bc: 0.0147, il_score: 0.6317, rl_score: 0.6693, prev_frame_loss_waypoint_0: 0.2050, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.4867, grad_norm: 51.0918, il_score_sum: 63.4136, rl_score_sum: 65.2643, score_diff: -1.8507, il_win: 76.0000, rl_win: 178.0000
2025-09-24 09:37:52,101 - mmdet - INFO - Epoch [12][460/3517]	lr: 2.828e-05, eta: 10:05:24, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.2143, debug_std_frame_0: 0.2345, debug_std_frame_1: 0.2654, debug_std_frame_2: 0.3233, debug_std_frame_3: 0.3791, debug_std_frame_4: 0.4376, debug_std_frame_5: 0.5018, loss_rl: -0.1973, loss_critic: 1.1925, loss_rl_bc: 0.0156, il_score: 0.6188, rl_score: 0.6435, prev_frame_loss_waypoint_0: 0.2235, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.4911, grad_norm: 61.8134, il_score_sum: 63.4136, rl_score_sum: 65.2643, score_diff: -1.8507, il_win: 76.0000, rl_win: 178.0000
2025-09-24 09:38:08,681 - mmdet - INFO - Epoch [12][480/3517]	lr: 2.828e-05, eta: 10:05:08, time: 0.828, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2122, debug_std_frame_0: 0.2279, debug_std_frame_1: 0.2606, debug_std_frame_2: 0.3206, debug_std_frame_3: 0.3805, debug_std_frame_4: 0.4409, debug_std_frame_5: 0.5081, loss_rl: -0.1826, loss_critic: 1.1558, loss_rl_bc: 0.0205, il_score: 0.6378, rl_score: 0.6437, prev_frame_loss_waypoint_0: 0.2335, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.4893, grad_norm: 85.5422, il_score_sum: 63.4136, rl_score_sum: 65.2643, score_diff: -1.8507, il_win: 76.0000, rl_win: 178.0000
2025-09-24 09:38:25,065 - mmdet - INFO - Epoch [12][500/3517]	lr: 2.828e-05, eta: 10:04:53, time: 0.820, data_time: 0.014, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2073, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2630, debug_std_frame_2: 0.3206, debug_std_frame_3: 0.3782, debug_std_frame_4: 0.4360, debug_std_frame_5: 0.4969, loss_rl: -0.2123, loss_critic: 1.3994, loss_rl_bc: 0.0170, il_score: 0.6040, rl_score: 0.6421, prev_frame_loss_waypoint_0: 0.2214, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.6762, grad_norm: 65.3345, il_score_sum: 63.4136, rl_score_sum: 65.2643, score_diff: -1.8507, il_win: 76.0000, rl_win: 178.0000
2025-09-24 09:38:41,475 - mmdet - INFO - Epoch [12][520/3517]	lr: 2.828e-05, eta: 10:04:37, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.2374, debug_std_frame_0: 0.2314, debug_std_frame_1: 0.2672, debug_std_frame_2: 0.3272, debug_std_frame_3: 0.3831, debug_std_frame_4: 0.4412, debug_std_frame_5: 0.5040, loss_rl: -0.2344, loss_critic: 1.5013, loss_rl_bc: 0.0175, il_score: 0.6008, rl_score: 0.6560, prev_frame_loss_waypoint_0: 0.2347, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.8003, grad_norm: 79.0700, il_score_sum: 63.1802, rl_score_sum: 65.1881, score_diff: -2.0080, il_win: 76.0000, rl_win: 178.5000
2025-09-24 09:38:57,773 - mmdet - INFO - Epoch [12][540/3517]	lr: 2.828e-05, eta: 10:04:21, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1849, debug_std_frame_0: 0.2326, debug_std_frame_1: 0.2635, debug_std_frame_2: 0.3170, debug_std_frame_3: 0.3706, debug_std_frame_4: 0.4267, debug_std_frame_5: 0.4901, loss_rl: -0.2574, loss_critic: 1.3319, loss_rl_bc: 0.0095, il_score: 0.6398, rl_score: 0.6643, prev_frame_loss_waypoint_0: 0.1845, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.4922, grad_norm: 43.3397, il_score_sum: 63.1802, rl_score_sum: 65.1881, score_diff: -2.0080, il_win: 76.0000, rl_win: 178.5000
2025-09-24 09:39:13,944 - mmdet - INFO - Epoch [12][560/3517]	lr: 2.828e-05, eta: 10:04:05, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1895, debug_std_frame_0: 0.2233, debug_std_frame_1: 0.2490, debug_std_frame_2: 0.2972, debug_std_frame_3: 0.3518, debug_std_frame_4: 0.4057, debug_std_frame_5: 0.4645, loss_rl: -0.2344, loss_critic: 1.1826, loss_rl_bc: 0.0095, il_score: 0.6442, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.1829, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3649, grad_norm: 47.3354, il_score_sum: 63.1802, rl_score_sum: 65.1881, score_diff: -2.0080, il_win: 76.0000, rl_win: 178.5000
2025-09-24 09:39:30,196 - mmdet - INFO - Epoch [12][580/3517]	lr: 2.828e-05, eta: 10:03:49, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1820, debug_std_frame_0: 0.2258, debug_std_frame_1: 0.2479, debug_std_frame_2: 0.2959, debug_std_frame_3: 0.3472, debug_std_frame_4: 0.3995, debug_std_frame_5: 0.4600, loss_rl: -0.2589, loss_critic: 1.5582, loss_rl_bc: 0.0096, il_score: 0.6301, rl_score: 0.6712, prev_frame_loss_waypoint_0: 0.1915, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.7183, grad_norm: 51.9088, il_score_sum: 63.1802, rl_score_sum: 65.1881, score_diff: -2.0080, il_win: 76.0000, rl_win: 178.5000
2025-09-24 09:39:46,449 - mmdet - INFO - Epoch [12][600/3517]	lr: 2.828e-05, eta: 10:03:34, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1955, debug_std_frame_0: 0.2299, debug_std_frame_1: 0.2521, debug_std_frame_2: 0.2989, debug_std_frame_3: 0.3509, debug_std_frame_4: 0.4065, debug_std_frame_5: 0.4667, loss_rl: -0.2638, loss_critic: 1.4210, loss_rl_bc: 0.0203, il_score: 0.6629, rl_score: 0.6516, prev_frame_loss_waypoint_0: 0.2014, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.6144, grad_norm: 70.5440, il_score_sum: 63.1802, rl_score_sum: 65.1881, score_diff: -2.0080, il_win: 76.0000, rl_win: 178.5000
2025-09-24 09:40:02,680 - mmdet - INFO - Epoch [12][620/3517]	lr: 2.828e-05, eta: 10:03:18, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1875, debug_std_frame_0: 0.2349, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3094, debug_std_frame_3: 0.3604, debug_std_frame_4: 0.4151, debug_std_frame_5: 0.4742, loss_rl: -0.3050, loss_critic: 1.2464, loss_rl_bc: 0.0096, il_score: 0.6584, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.2084, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.3910, grad_norm: 40.0934, il_score_sum: 63.3379, rl_score_sum: 65.3585, score_diff: -2.0206, il_win: 76.0000, rl_win: 179.0000
2025-09-24 09:40:21,204 - mmdet - INFO - Epoch [12][640/3517]	lr: 2.828e-05, eta: 10:03:04, time: 0.926, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1574, debug_std_frame_0: 0.2359, debug_std_frame_1: 0.2607, debug_std_frame_2: 0.3083, debug_std_frame_3: 0.3598, debug_std_frame_4: 0.4152, debug_std_frame_5: 0.4730, loss_rl: -0.2889, loss_critic: 1.1988, loss_rl_bc: 0.0025, il_score: 0.6642, rl_score: 0.6954, prev_frame_loss_waypoint_0: 0.1805, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.2840, grad_norm: 48.0322, il_score_sum: 63.3379, rl_score_sum: 65.3585, score_diff: -2.0206, il_win: 76.0000, rl_win: 179.0000
2025-09-24 09:40:37,350 - mmdet - INFO - Epoch [12][660/3517]	lr: 2.828e-05, eta: 10:02:49, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1854, debug_std_frame_0: 0.2262, debug_std_frame_1: 0.2501, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3562, debug_std_frame_4: 0.4141, debug_std_frame_5: 0.4780, loss_rl: -0.2317, loss_critic: 1.3379, loss_rl_bc: 0.0111, il_score: 0.6654, rl_score: 0.6786, prev_frame_loss_waypoint_0: 0.2168, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.5634, grad_norm: 65.1653, il_score_sum: 63.3379, rl_score_sum: 65.3585, score_diff: -2.0206, il_win: 76.0000, rl_win: 179.0000
2025-09-24 09:40:53,758 - mmdet - INFO - Epoch [12][680/3517]	lr: 2.828e-05, eta: 10:02:33, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.2069, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2551, debug_std_frame_2: 0.3037, debug_std_frame_3: 0.3549, debug_std_frame_4: 0.4104, debug_std_frame_5: 0.4711, loss_rl: -0.2237, loss_critic: 1.1735, loss_rl_bc: 0.0121, il_score: 0.6441, rl_score: 0.6765, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.4375, grad_norm: 71.3830, il_score_sum: 63.3379, rl_score_sum: 65.3585, score_diff: -2.0206, il_win: 76.0000, rl_win: 179.0000
2025-09-24 09:41:10,003 - mmdet - INFO - Epoch [12][700/3517]	lr: 2.828e-05, eta: 10:02:17, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1874, debug_std_frame_0: 0.2269, debug_std_frame_1: 0.2564, debug_std_frame_2: 0.3101, debug_std_frame_3: 0.3636, debug_std_frame_4: 0.4213, debug_std_frame_5: 0.4820, loss_rl: -0.2124, loss_critic: 1.5831, loss_rl_bc: 0.0155, il_score: 0.6506, rl_score: 0.6302, prev_frame_loss_waypoint_0: 0.1975, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.8119, grad_norm: 64.6959, il_score_sum: 63.3379, rl_score_sum: 65.3585, score_diff: -2.0206, il_win: 76.0000, rl_win: 179.0000
2025-09-24 09:41:26,537 - mmdet - INFO - Epoch [12][720/3517]	lr: 2.828e-05, eta: 10:02:02, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1677, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3058, debug_std_frame_3: 0.3508, debug_std_frame_4: 0.4008, debug_std_frame_5: 0.4520, loss_rl: -0.2360, loss_critic: 1.2971, loss_rl_bc: 0.0108, il_score: 0.6659, rl_score: 0.6629, prev_frame_loss_waypoint_0: 0.2033, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.4825, grad_norm: 65.5731, il_score_sum: 63.6681, rl_score_sum: 65.5612, score_diff: -1.8930, il_win: 76.0000, rl_win: 179.5000
2025-09-24 09:41:42,811 - mmdet - INFO - Epoch [12][740/3517]	lr: 2.828e-05, eta: 10:01:46, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.2009, debug_std_frame_0: 0.2350, debug_std_frame_1: 0.2678, debug_std_frame_2: 0.3183, debug_std_frame_3: 0.3671, debug_std_frame_4: 0.4226, debug_std_frame_5: 0.4823, loss_rl: -0.1981, loss_critic: 1.1229, loss_rl_bc: 0.0165, il_score: 0.6455, rl_score: 0.6443, prev_frame_loss_waypoint_0: 0.2234, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.4122, grad_norm: 52.0922, il_score_sum: 63.6681, rl_score_sum: 65.5612, score_diff: -1.8930, il_win: 76.0000, rl_win: 179.5000
2025-09-24 09:41:59,334 - mmdet - INFO - Epoch [12][760/3517]	lr: 2.828e-05, eta: 10:01:30, time: 0.826, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1974, debug_std_frame_0: 0.2369, debug_std_frame_1: 0.2711, debug_std_frame_2: 0.3201, debug_std_frame_3: 0.3663, debug_std_frame_4: 0.4163, debug_std_frame_5: 0.4707, loss_rl: -0.2162, loss_critic: 1.2889, loss_rl_bc: 0.0161, il_score: 0.6271, rl_score: 0.6587, prev_frame_loss_waypoint_0: 0.2236, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.5536, grad_norm: 50.7367, il_score_sum: 63.6681, rl_score_sum: 65.5612, score_diff: -1.8930, il_win: 76.0000, rl_win: 179.5000
2025-09-24 09:42:15,610 - mmdet - INFO - Epoch [12][780/3517]	lr: 2.828e-05, eta: 10:01:14, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1747, debug_std_frame_0: 0.2378, debug_std_frame_1: 0.2706, debug_std_frame_2: 0.3214, debug_std_frame_3: 0.3688, debug_std_frame_4: 0.4201, debug_std_frame_5: 0.4717, loss_rl: -0.2617, loss_critic: 1.5102, loss_rl_bc: 0.0066, il_score: 0.6193, rl_score: 0.6544, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.6616, grad_norm: 63.7531, il_score_sum: 63.6681, rl_score_sum: 65.5612, score_diff: -1.8930, il_win: 76.0000, rl_win: 179.5000
2025-09-24 09:42:31,633 - mmdet - INFO - Epoch [12][800/3517]	lr: 2.828e-05, eta: 10:00:58, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1873, debug_std_frame_0: 0.2287, debug_std_frame_1: 0.2618, debug_std_frame_2: 0.3156, debug_std_frame_3: 0.3647, debug_std_frame_4: 0.4203, debug_std_frame_5: 0.4811, loss_rl: -0.2232, loss_critic: 1.1470, loss_rl_bc: 0.0105, il_score: 0.6667, rl_score: 0.6628, prev_frame_loss_waypoint_0: 0.2048, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.3646, grad_norm: 37.6825, il_score_sum: 63.6681, rl_score_sum: 65.5612, score_diff: -1.8930, il_win: 76.0000, rl_win: 179.5000
2025-09-24 09:42:48,308 - mmdet - INFO - Epoch [12][820/3517]	lr: 2.828e-05, eta: 10:00:43, time: 0.834, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1852, debug_std_frame_0: 0.2406, debug_std_frame_1: 0.2741, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3790, debug_std_frame_4: 0.4377, debug_std_frame_5: 0.4988, loss_rl: -0.2545, loss_critic: 1.5841, loss_rl_bc: 0.0128, il_score: 0.6056, rl_score: 0.6232, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.7753, grad_norm: 53.4675, il_score_sum: 63.6831, rl_score_sum: 65.5374, score_diff: -1.8543, il_win: 76.0000, rl_win: 180.0000
2025-09-24 09:43:04,564 - mmdet - INFO - Epoch [12][840/3517]	lr: 2.828e-05, eta: 10:00:27, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1909, debug_std_frame_0: 0.2290, debug_std_frame_1: 0.2568, debug_std_frame_2: 0.3061, debug_std_frame_3: 0.3562, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4650, loss_rl: -0.2154, loss_critic: 1.3722, loss_rl_bc: 0.0165, il_score: 0.6235, rl_score: 0.6331, prev_frame_loss_waypoint_0: 0.1974, prev_frame_loss_rl_bc_0: 0.0209, loss: 1.6086, grad_norm: 45.0522, il_score_sum: 63.6831, rl_score_sum: 65.5374, score_diff: -1.8543, il_win: 76.0000, rl_win: 180.0000
2025-09-24 09:43:20,890 - mmdet - INFO - Epoch [12][860/3517]	lr: 2.828e-05, eta: 10:00:11, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1702, debug_std_frame_0: 0.2418, debug_std_frame_1: 0.2722, debug_std_frame_2: 0.3198, debug_std_frame_3: 0.3688, debug_std_frame_4: 0.4244, debug_std_frame_5: 0.4825, loss_rl: -0.1996, loss_critic: 1.3417, loss_rl_bc: 0.0159, il_score: 0.6592, rl_score: 0.6349, prev_frame_loss_waypoint_0: 0.1974, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.5663, grad_norm: 41.9592, il_score_sum: 63.6831, rl_score_sum: 65.5374, score_diff: -1.8543, il_win: 76.0000, rl_win: 180.0000
2025-09-24 09:43:37,201 - mmdet - INFO - Epoch [12][880/3517]	lr: 2.828e-05, eta: 9:59:56, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2048, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2649, debug_std_frame_2: 0.3148, debug_std_frame_3: 0.3661, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4854, loss_rl: -0.2256, loss_critic: 1.3653, loss_rl_bc: 0.0187, il_score: 0.6209, rl_score: 0.6500, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.5959, grad_norm: 49.0802, il_score_sum: 63.6831, rl_score_sum: 65.5374, score_diff: -1.8543, il_win: 76.0000, rl_win: 180.0000
2025-09-24 09:43:53,299 - mmdet - INFO - Epoch [12][900/3517]	lr: 2.828e-05, eta: 9:59:40, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2049, debug_std_frame_0: 0.2345, debug_std_frame_1: 0.2669, debug_std_frame_2: 0.3200, debug_std_frame_3: 0.3722, debug_std_frame_4: 0.4310, debug_std_frame_5: 0.4914, loss_rl: -0.1907, loss_critic: 1.4430, loss_rl_bc: 0.0248, il_score: 0.5992, rl_score: 0.6210, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.7228, grad_norm: 52.7141, il_score_sum: 63.6831, rl_score_sum: 65.5374, score_diff: -1.8543, il_win: 76.0000, rl_win: 180.0000
2025-09-24 09:44:09,712 - mmdet - INFO - Epoch [12][920/3517]	lr: 2.828e-05, eta: 9:59:24, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1825, debug_std_frame_0: 0.2353, debug_std_frame_1: 0.2702, debug_std_frame_2: 0.3248, debug_std_frame_3: 0.3734, debug_std_frame_4: 0.4302, debug_std_frame_5: 0.4850, loss_rl: -0.2005, loss_critic: 1.2671, loss_rl_bc: 0.0111, il_score: 0.6501, rl_score: 0.6749, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.4943, grad_norm: 57.1023, il_score_sum: 63.6223, rl_score_sum: 65.4173, score_diff: -1.7951, il_win: 76.0000, rl_win: 180.5000
2025-09-24 09:44:26,048 - mmdet - INFO - Epoch [12][940/3517]	lr: 2.828e-05, eta: 9:59:08, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1940, debug_std_frame_0: 0.2296, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3239, debug_std_frame_3: 0.3803, debug_std_frame_4: 0.4435, debug_std_frame_5: 0.5036, loss_rl: -0.1886, loss_critic: 1.3177, loss_rl_bc: 0.0203, il_score: 0.6089, rl_score: 0.6014, prev_frame_loss_waypoint_0: 0.2161, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.6049, grad_norm: 55.0869, il_score_sum: 63.6223, rl_score_sum: 65.4173, score_diff: -1.7951, il_win: 76.0000, rl_win: 180.5000
2025-09-24 09:44:42,220 - mmdet - INFO - Epoch [12][960/3517]	lr: 2.828e-05, eta: 9:58:52, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1998, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2675, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3827, debug_std_frame_4: 0.4438, debug_std_frame_5: 0.5023, loss_rl: -0.2275, loss_critic: 1.4215, loss_rl_bc: 0.0167, il_score: 0.6357, rl_score: 0.6536, prev_frame_loss_waypoint_0: 0.2204, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.6732, grad_norm: 48.8971, il_score_sum: 63.6223, rl_score_sum: 65.4173, score_diff: -1.7951, il_win: 76.0000, rl_win: 180.5000
2025-09-24 09:44:58,406 - mmdet - INFO - Epoch [12][980/3517]	lr: 2.828e-05, eta: 9:58:36, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1837, debug_std_frame_0: 0.2347, debug_std_frame_1: 0.2635, debug_std_frame_2: 0.3201, debug_std_frame_3: 0.3749, debug_std_frame_4: 0.4328, debug_std_frame_5: 0.4933, loss_rl: -0.2278, loss_critic: 1.1811, loss_rl_bc: 0.0098, il_score: 0.6545, rl_score: 0.6630, prev_frame_loss_waypoint_0: 0.1928, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.3783, grad_norm: 43.9995, il_score_sum: 63.6223, rl_score_sum: 65.4173, score_diff: -1.7951, il_win: 76.0000, rl_win: 180.5000
2025-09-24 09:45:14,879 - mmdet - INFO - Epoch [12][1000/3517]	lr: 2.828e-05, eta: 9:58:21, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0221, loss_waypoint: 0.1829, debug_std_frame_0: 0.2198, debug_std_frame_1: 0.2478, debug_std_frame_2: 0.3097, debug_std_frame_3: 0.3671, debug_std_frame_4: 0.4287, debug_std_frame_5: 0.4904, loss_rl: -0.2313, loss_critic: 1.2066, loss_rl_bc: 0.0100, il_score: 0.6690, rl_score: 0.6669, prev_frame_loss_waypoint_0: 0.2052, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.4082, grad_norm: 45.1870, il_score_sum: 63.6223, rl_score_sum: 65.4173, score_diff: -1.7951, il_win: 76.0000, rl_win: 180.5000
2025-09-24 09:45:31,729 - mmdet - INFO - Epoch [12][1020/3517]	lr: 2.828e-05, eta: 9:58:06, time: 0.843, data_time: 0.013, memory: 8550, loss_rec: 0.0226, loss_waypoint: 0.1994, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2472, debug_std_frame_2: 0.3058, debug_std_frame_3: 0.3655, debug_std_frame_4: 0.4300, debug_std_frame_5: 0.4897, loss_rl: -0.2108, loss_critic: 1.5345, loss_rl_bc: 0.0170, il_score: 0.6239, rl_score: 0.6282, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.7748, grad_norm: 45.4018, il_score_sum: 63.5674, rl_score_sum: 65.2726, score_diff: -1.7051, il_win: 76.0000, rl_win: 180.9091
2025-09-24 09:45:48,202 - mmdet - INFO - Epoch [12][1040/3517]	lr: 2.828e-05, eta: 9:57:50, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.2013, debug_std_frame_0: 0.2232, debug_std_frame_1: 0.2532, debug_std_frame_2: 0.3116, debug_std_frame_3: 0.3681, debug_std_frame_4: 0.4263, debug_std_frame_5: 0.4849, loss_rl: -0.2313, loss_critic: 1.3576, loss_rl_bc: 0.0167, il_score: 0.5907, rl_score: 0.6334, prev_frame_loss_waypoint_0: 0.2168, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.6008, grad_norm: 66.3060, il_score_sum: 63.5674, rl_score_sum: 65.2726, score_diff: -1.7051, il_win: 76.0000, rl_win: 180.9091
2025-09-24 09:46:04,518 - mmdet - INFO - Epoch [12][1060/3517]	lr: 2.828e-05, eta: 9:57:34, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0228, loss_waypoint: 0.2056, debug_std_frame_0: 0.2255, debug_std_frame_1: 0.2549, debug_std_frame_2: 0.3128, debug_std_frame_3: 0.3700, debug_std_frame_4: 0.4271, debug_std_frame_5: 0.4871, loss_rl: -0.2318, loss_critic: 1.3150, loss_rl_bc: 0.0113, il_score: 0.6186, rl_score: 0.6244, prev_frame_loss_waypoint_0: 0.2303, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.5706, grad_norm: 75.2742, il_score_sum: 63.5674, rl_score_sum: 65.2726, score_diff: -1.7051, il_win: 76.0000, rl_win: 180.9091
2025-09-24 09:46:21,108 - mmdet - INFO - Epoch [12][1080/3517]	lr: 2.828e-05, eta: 9:57:19, time: 0.829, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2042, debug_std_frame_0: 0.2315, debug_std_frame_1: 0.2608, debug_std_frame_2: 0.3187, debug_std_frame_3: 0.3754, debug_std_frame_4: 0.4340, debug_std_frame_5: 0.4931, loss_rl: -0.2358, loss_critic: 1.3091, loss_rl_bc: 0.0153, il_score: 0.6023, rl_score: 0.6509, prev_frame_loss_waypoint_0: 0.2074, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.5384, grad_norm: 54.4897, il_score_sum: 63.5674, rl_score_sum: 65.2726, score_diff: -1.7051, il_win: 76.0000, rl_win: 180.9091
2025-09-24 09:46:37,599 - mmdet - INFO - Epoch [12][1100/3517]	lr: 2.828e-05, eta: 9:57:03, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.2023, debug_std_frame_0: 0.2331, debug_std_frame_1: 0.2680, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3867, debug_std_frame_4: 0.4469, debug_std_frame_5: 0.5066, loss_rl: -0.2035, loss_critic: 1.4389, loss_rl_bc: 0.0151, il_score: 0.6115, rl_score: 0.6259, prev_frame_loss_waypoint_0: 0.2310, prev_frame_loss_rl_bc_0: 0.0401, loss: 1.7480, grad_norm: 55.7960, il_score_sum: 63.5674, rl_score_sum: 65.2726, score_diff: -1.7051, il_win: 76.0000, rl_win: 180.9091
2025-09-24 09:46:54,152 - mmdet - INFO - Epoch [12][1120/3517]	lr: 2.828e-05, eta: 9:56:48, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1985, debug_std_frame_0: 0.2340, debug_std_frame_1: 0.2708, debug_std_frame_2: 0.3313, debug_std_frame_3: 0.3882, debug_std_frame_4: 0.4473, debug_std_frame_5: 0.5042, loss_rl: -0.2404, loss_critic: 1.2236, loss_rl_bc: 0.0155, il_score: 0.6701, rl_score: 0.6714, prev_frame_loss_waypoint_0: 0.2080, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.4489, grad_norm: 55.7093, il_score_sum: 63.4585, rl_score_sum: 65.2118, score_diff: -1.7533, il_win: 76.0000, rl_win: 181.3333
2025-09-24 09:47:10,292 - mmdet - INFO - Epoch [12][1140/3517]	lr: 2.828e-05, eta: 9:56:32, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1997, debug_std_frame_0: 0.2353, debug_std_frame_1: 0.2735, debug_std_frame_2: 0.3303, debug_std_frame_3: 0.3868, debug_std_frame_4: 0.4460, debug_std_frame_5: 0.5023, loss_rl: -0.2754, loss_critic: 1.4237, loss_rl_bc: 0.0206, il_score: 0.6610, rl_score: 0.6499, prev_frame_loss_waypoint_0: 0.2127, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.6245, grad_norm: 47.2404, il_score_sum: 63.4585, rl_score_sum: 65.2118, score_diff: -1.7533, il_win: 76.0000, rl_win: 181.3333
2025-09-24 09:47:26,589 - mmdet - INFO - Epoch [12][1160/3517]	lr: 2.828e-05, eta: 9:56:16, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.2131, debug_std_frame_0: 0.2361, debug_std_frame_1: 0.2741, debug_std_frame_2: 0.3326, debug_std_frame_3: 0.3869, debug_std_frame_4: 0.4411, debug_std_frame_5: 0.4955, loss_rl: -0.2441, loss_critic: 1.4366, loss_rl_bc: 0.0184, il_score: 0.6207, rl_score: 0.6511, prev_frame_loss_waypoint_0: 0.2219, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.6887, grad_norm: 59.3842, il_score_sum: 63.4585, rl_score_sum: 65.2118, score_diff: -1.7533, il_win: 76.0000, rl_win: 181.3333
2025-09-24 09:47:42,989 - mmdet - INFO - Epoch [12][1180/3517]	lr: 2.828e-05, eta: 9:56:00, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2271, debug_std_frame_0: 0.2352, debug_std_frame_1: 0.2724, debug_std_frame_2: 0.3315, debug_std_frame_3: 0.3885, debug_std_frame_4: 0.4454, debug_std_frame_5: 0.5015, loss_rl: -0.1789, loss_critic: 1.0094, loss_rl_bc: 0.0180, il_score: 0.6401, rl_score: 0.6635, prev_frame_loss_waypoint_0: 0.2254, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.3395, grad_norm: 74.5868, il_score_sum: 63.4585, rl_score_sum: 65.2118, score_diff: -1.7533, il_win: 76.0000, rl_win: 181.3333
2025-09-24 09:47:58,949 - mmdet - INFO - Epoch [12][1200/3517]	lr: 2.828e-05, eta: 9:55:44, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.2038, debug_std_frame_0: 0.2411, debug_std_frame_1: 0.2810, debug_std_frame_2: 0.3427, debug_std_frame_3: 0.4047, debug_std_frame_4: 0.4678, debug_std_frame_5: 0.5245, loss_rl: -0.2357, loss_critic: 1.5970, loss_rl_bc: 0.0120, il_score: 0.6033, rl_score: 0.6148, prev_frame_loss_waypoint_0: 0.2164, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.8315, grad_norm: 57.5237, il_score_sum: 63.4585, rl_score_sum: 65.2118, score_diff: -1.7533, il_win: 76.0000, rl_win: 181.3333
2025-09-24 09:48:15,495 - mmdet - INFO - Epoch [12][1220/3517]	lr: 2.828e-05, eta: 9:55:29, time: 0.827, data_time: 0.014, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1744, debug_std_frame_0: 0.2288, debug_std_frame_1: 0.2588, debug_std_frame_2: 0.3104, debug_std_frame_3: 0.3642, debug_std_frame_4: 0.4162, debug_std_frame_5: 0.4682, loss_rl: -0.2621, loss_critic: 1.2906, loss_rl_bc: 0.0082, il_score: 0.6662, rl_score: 0.6847, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4228, grad_norm: 41.6126, il_score_sum: 63.4951, rl_score_sum: 65.1923, score_diff: -1.6972, il_win: 76.0000, rl_win: 181.7692
2025-09-24 09:48:31,619 - mmdet - INFO - Epoch [12][1240/3517]	lr: 2.828e-05, eta: 9:55:13, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1840, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2484, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3573, debug_std_frame_4: 0.4136, debug_std_frame_5: 0.4676, loss_rl: -0.2731, loss_critic: 1.2798, loss_rl_bc: 0.0086, il_score: 0.6711, rl_score: 0.6824, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.4301, grad_norm: 45.9666, il_score_sum: 63.4951, rl_score_sum: 65.1923, score_diff: -1.6972, il_win: 76.0000, rl_win: 181.7692
2025-09-24 09:48:47,942 - mmdet - INFO - Epoch [12][1260/3517]	lr: 2.828e-05, eta: 9:54:57, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1869, debug_std_frame_0: 0.2209, debug_std_frame_1: 0.2472, debug_std_frame_2: 0.2984, debug_std_frame_3: 0.3553, debug_std_frame_4: 0.4116, debug_std_frame_5: 0.4668, loss_rl: -0.2774, loss_critic: 1.1882, loss_rl_bc: 0.0061, il_score: 0.6578, rl_score: 0.6942, prev_frame_loss_waypoint_0: 0.2154, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.3592, grad_norm: 52.2591, il_score_sum: 63.4951, rl_score_sum: 65.1923, score_diff: -1.6972, il_win: 76.0000, rl_win: 181.7692
2025-09-24 09:49:04,286 - mmdet - INFO - Epoch [12][1280/3517]	lr: 2.828e-05, eta: 9:54:41, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2228, debug_std_frame_0: 0.2217, debug_std_frame_1: 0.2525, debug_std_frame_2: 0.3066, debug_std_frame_3: 0.3667, debug_std_frame_4: 0.4261, debug_std_frame_5: 0.4877, loss_rl: -0.2524, loss_critic: 1.4234, loss_rl_bc: 0.0167, il_score: 0.5701, rl_score: 0.6319, prev_frame_loss_waypoint_0: 0.2394, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.6937, grad_norm: 64.5265, il_score_sum: 63.4951, rl_score_sum: 65.1923, score_diff: -1.6972, il_win: 76.0000, rl_win: 181.7692
2025-09-24 09:49:20,262 - mmdet - INFO - Epoch [12][1300/3517]	lr: 2.828e-05, eta: 9:54:25, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2380, debug_std_frame_0: 0.2286, debug_std_frame_1: 0.2636, debug_std_frame_2: 0.3191, debug_std_frame_3: 0.3820, debug_std_frame_4: 0.4427, debug_std_frame_5: 0.5038, loss_rl: -0.1963, loss_critic: 1.5317, loss_rl_bc: 0.0199, il_score: 0.6034, rl_score: 0.6313, prev_frame_loss_waypoint_0: 0.2396, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.8784, grad_norm: 74.6703, il_score_sum: 63.4951, rl_score_sum: 65.1923, score_diff: -1.6972, il_win: 76.0000, rl_win: 181.7692
2025-09-24 09:49:36,570 - mmdet - INFO - Epoch [12][1320/3517]	lr: 2.828e-05, eta: 9:54:09, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1879, debug_std_frame_0: 0.2302, debug_std_frame_1: 0.2631, debug_std_frame_2: 0.3135, debug_std_frame_3: 0.3727, debug_std_frame_4: 0.4263, debug_std_frame_5: 0.4842, loss_rl: -0.2626, loss_critic: 1.1474, loss_rl_bc: 0.0120, il_score: 0.6647, rl_score: 0.6831, prev_frame_loss_waypoint_0: 0.1936, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.3139, grad_norm: 47.6242, il_score_sum: 63.4604, rl_score_sum: 65.2615, score_diff: -1.8011, il_win: 76.0000, rl_win: 182.2143
2025-09-24 09:49:52,557 - mmdet - INFO - Epoch [12][1340/3517]	lr: 2.828e-05, eta: 9:53:53, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2004, debug_std_frame_0: 0.2369, debug_std_frame_1: 0.2699, debug_std_frame_2: 0.3199, debug_std_frame_3: 0.3778, debug_std_frame_4: 0.4347, debug_std_frame_5: 0.4922, loss_rl: -0.2454, loss_critic: 1.3748, loss_rl_bc: 0.0151, il_score: 0.6123, rl_score: 0.6580, prev_frame_loss_waypoint_0: 0.2204, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.6050, grad_norm: 61.2289, il_score_sum: 63.4604, rl_score_sum: 65.2615, score_diff: -1.8011, il_win: 76.0000, rl_win: 182.2143
2025-09-24 09:50:08,494 - mmdet - INFO - Epoch [12][1360/3517]	lr: 2.828e-05, eta: 9:53:37, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2029, debug_std_frame_0: 0.2327, debug_std_frame_1: 0.2623, debug_std_frame_2: 0.3097, debug_std_frame_3: 0.3653, debug_std_frame_4: 0.4195, debug_std_frame_5: 0.4766, loss_rl: -0.2546, loss_critic: 1.2078, loss_rl_bc: 0.0160, il_score: 0.6320, rl_score: 0.6494, prev_frame_loss_waypoint_0: 0.2097, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.4221, grad_norm: 63.0412, il_score_sum: 63.4604, rl_score_sum: 65.2615, score_diff: -1.8011, il_win: 76.0000, rl_win: 182.2143
2025-09-24 09:50:24,402 - mmdet - INFO - Epoch [12][1380/3517]	lr: 2.828e-05, eta: 9:53:21, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.2228, debug_std_frame_0: 0.2363, debug_std_frame_1: 0.2683, debug_std_frame_2: 0.3190, debug_std_frame_3: 0.3751, debug_std_frame_4: 0.4295, debug_std_frame_5: 0.4838, loss_rl: -0.2219, loss_critic: 1.1388, loss_rl_bc: 0.0164, il_score: 0.6146, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2444, prev_frame_loss_rl_bc_0: 0.0235, loss: 1.4498, grad_norm: 66.2110, il_score_sum: 63.4604, rl_score_sum: 65.2615, score_diff: -1.8011, il_win: 76.0000, rl_win: 182.2143
2025-09-24 09:50:42,641 - mmdet - INFO - Epoch [12][1400/3517]	lr: 2.828e-05, eta: 9:53:07, time: 0.912, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1998, debug_std_frame_0: 0.2449, debug_std_frame_1: 0.2780, debug_std_frame_2: 0.3305, debug_std_frame_3: 0.3850, debug_std_frame_4: 0.4416, debug_std_frame_5: 0.4984, loss_rl: -0.2603, loss_critic: 1.2438, loss_rl_bc: 0.0105, il_score: 0.6377, rl_score: 0.6609, prev_frame_loss_waypoint_0: 0.2260, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.4585, grad_norm: 53.2714, il_score_sum: 63.4604, rl_score_sum: 65.2615, score_diff: -1.8011, il_win: 76.0000, rl_win: 182.2143
2025-09-24 09:50:58,908 - mmdet - INFO - Epoch [12][1420/3517]	lr: 2.828e-05, eta: 9:52:51, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1859, debug_std_frame_0: 0.2330, debug_std_frame_1: 0.2661, debug_std_frame_2: 0.3235, debug_std_frame_3: 0.3835, debug_std_frame_4: 0.4420, debug_std_frame_5: 0.5035, loss_rl: -0.2296, loss_critic: 1.1995, loss_rl_bc: 0.0125, il_score: 0.6426, rl_score: 0.6532, prev_frame_loss_waypoint_0: 0.2121, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.4245, grad_norm: 49.2025, il_score_sum: 63.4350, rl_score_sum: 65.2991, score_diff: -1.8641, il_win: 76.0000, rl_win: 182.6667
2025-09-24 09:51:14,704 - mmdet - INFO - Epoch [12][1440/3517]	lr: 2.828e-05, eta: 9:52:35, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1882, debug_std_frame_0: 0.2241, debug_std_frame_1: 0.2516, debug_std_frame_2: 0.3035, debug_std_frame_3: 0.3609, debug_std_frame_4: 0.4156, debug_std_frame_5: 0.4685, loss_rl: -0.2664, loss_critic: 1.6894, loss_rl_bc: 0.0103, il_score: 0.6308, rl_score: 0.6834, prev_frame_loss_waypoint_0: 0.2038, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.8602, grad_norm: 55.7018, il_score_sum: 63.4350, rl_score_sum: 65.2991, score_diff: -1.8641, il_win: 76.0000, rl_win: 182.6667
2025-09-24 09:51:30,585 - mmdet - INFO - Epoch [12][1460/3517]	lr: 2.828e-05, eta: 9:52:19, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1873, debug_std_frame_0: 0.2240, debug_std_frame_1: 0.2538, debug_std_frame_2: 0.3110, debug_std_frame_3: 0.3742, debug_std_frame_4: 0.4350, debug_std_frame_5: 0.4940, loss_rl: -0.2129, loss_critic: 1.2523, loss_rl_bc: 0.0100, il_score: 0.6108, rl_score: 0.6306, prev_frame_loss_waypoint_0: 0.2090, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.4870, grad_norm: 50.8358, il_score_sum: 63.4350, rl_score_sum: 65.2991, score_diff: -1.8641, il_win: 76.0000, rl_win: 182.6667
2025-09-24 09:51:46,734 - mmdet - INFO - Epoch [12][1480/3517]	lr: 2.828e-05, eta: 9:52:03, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.2062, debug_std_frame_0: 0.2235, debug_std_frame_1: 0.2527, debug_std_frame_2: 0.3063, debug_std_frame_3: 0.3661, debug_std_frame_4: 0.4209, debug_std_frame_5: 0.4781, loss_rl: -0.2104, loss_critic: 1.2323, loss_rl_bc: 0.0146, il_score: 0.6517, rl_score: 0.6491, prev_frame_loss_waypoint_0: 0.2299, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.5219, grad_norm: 52.6247, il_score_sum: 63.4350, rl_score_sum: 65.2991, score_diff: -1.8641, il_win: 76.0000, rl_win: 182.6667
2025-09-24 09:52:02,912 - mmdet - INFO - Epoch [12][1500/3517]	lr: 2.828e-05, eta: 9:51:47, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1990, debug_std_frame_0: 0.2221, debug_std_frame_1: 0.2529, debug_std_frame_2: 0.3098, debug_std_frame_3: 0.3685, debug_std_frame_4: 0.4255, debug_std_frame_5: 0.4863, loss_rl: -0.2601, loss_critic: 1.6872, loss_rl_bc: 0.0556, il_score: 0.6276, rl_score: 0.6367, prev_frame_loss_waypoint_0: 0.2258, prev_frame_loss_rl_bc_0: 0.0580, loss: 1.9894, grad_norm: 67.9575, il_score_sum: 63.4350, rl_score_sum: 65.2991, score_diff: -1.8641, il_win: 76.0000, rl_win: 182.6667
2025-09-24 09:52:19,015 - mmdet - INFO - Epoch [12][1520/3517]	lr: 2.828e-05, eta: 9:51:31, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2024, debug_std_frame_0: 0.2288, debug_std_frame_1: 0.2693, debug_std_frame_2: 0.3392, debug_std_frame_3: 0.4072, debug_std_frame_4: 0.4711, debug_std_frame_5: 0.5330, loss_rl: -0.1539, loss_critic: 1.3327, loss_rl_bc: 0.0222, il_score: 0.6294, rl_score: 0.5943, prev_frame_loss_waypoint_0: 0.2245, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.6763, grad_norm: 60.0836, il_score_sum: 63.4091, rl_score_sum: 65.2391, score_diff: -1.8301, il_win: 76.0000, rl_win: 183.1250
2025-09-24 09:52:35,113 - mmdet - INFO - Epoch [12][1540/3517]	lr: 2.828e-05, eta: 9:51:15, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1866, debug_std_frame_0: 0.2332, debug_std_frame_1: 0.2737, debug_std_frame_2: 0.3360, debug_std_frame_3: 0.4045, debug_std_frame_4: 0.4675, debug_std_frame_5: 0.5361, loss_rl: -0.1942, loss_critic: 1.2811, loss_rl_bc: 0.0116, il_score: 0.6305, rl_score: 0.6458, prev_frame_loss_waypoint_0: 0.2116, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5397, grad_norm: 40.3101, il_score_sum: 63.4091, rl_score_sum: 65.2391, score_diff: -1.8301, il_win: 76.0000, rl_win: 183.1250
2025-09-24 09:52:51,152 - mmdet - INFO - Epoch [12][1560/3517]	lr: 2.828e-05, eta: 9:50:59, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1901, debug_std_frame_0: 0.2228, debug_std_frame_1: 0.2559, debug_std_frame_2: 0.3110, debug_std_frame_3: 0.3761, debug_std_frame_4: 0.4355, debug_std_frame_5: 0.5065, loss_rl: -0.2329, loss_critic: 1.3360, loss_rl_bc: 0.0135, il_score: 0.6515, rl_score: 0.6676, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.5605, grad_norm: 55.8045, il_score_sum: 63.4091, rl_score_sum: 65.2391, score_diff: -1.8301, il_win: 76.0000, rl_win: 183.1250
2025-09-24 09:53:07,476 - mmdet - INFO - Epoch [12][1580/3517]	lr: 2.828e-05, eta: 9:50:43, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1834, debug_std_frame_0: 0.2231, debug_std_frame_1: 0.2523, debug_std_frame_2: 0.3035, debug_std_frame_3: 0.3617, debug_std_frame_4: 0.4157, debug_std_frame_5: 0.4769, loss_rl: -0.2827, loss_critic: 1.4019, loss_rl_bc: 0.0076, il_score: 0.6411, rl_score: 0.6650, prev_frame_loss_waypoint_0: 0.1989, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.5443, grad_norm: 63.9120, il_score_sum: 63.4091, rl_score_sum: 65.2391, score_diff: -1.8301, il_win: 76.0000, rl_win: 183.1250
2025-09-24 09:53:23,322 - mmdet - INFO - Epoch [12][1600/3517]	lr: 2.828e-05, eta: 9:50:27, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1776, debug_std_frame_0: 0.2193, debug_std_frame_1: 0.2459, debug_std_frame_2: 0.2978, debug_std_frame_3: 0.3560, debug_std_frame_4: 0.4099, debug_std_frame_5: 0.4719, loss_rl: -0.3071, loss_critic: 1.1789, loss_rl_bc: 0.0075, il_score: 0.6846, rl_score: 0.7004, prev_frame_loss_waypoint_0: 0.2122, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.3093, grad_norm: 60.5540, il_score_sum: 63.4091, rl_score_sum: 65.2391, score_diff: -1.8301, il_win: 76.0000, rl_win: 183.1250
2025-09-24 09:53:39,317 - mmdet - INFO - Epoch [12][1620/3517]	lr: 2.828e-05, eta: 9:50:10, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.2108, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2379, debug_std_frame_2: 0.2919, debug_std_frame_3: 0.3542, debug_std_frame_4: 0.4129, debug_std_frame_5: 0.4807, loss_rl: -0.1907, loss_critic: 1.1929, loss_rl_bc: 0.0118, il_score: 0.6080, rl_score: 0.6394, prev_frame_loss_waypoint_0: 0.2157, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.4766, grad_norm: 61.6496, il_score_sum: 63.4619, rl_score_sum: 65.2768, score_diff: -1.8149, il_win: 76.0000, rl_win: 183.5882
2025-09-24 09:53:55,203 - mmdet - INFO - Epoch [12][1640/3517]	lr: 2.828e-05, eta: 9:49:54, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1853, debug_std_frame_0: 0.2203, debug_std_frame_1: 0.2486, debug_std_frame_2: 0.3044, debug_std_frame_3: 0.3666, debug_std_frame_4: 0.4243, debug_std_frame_5: 0.4965, loss_rl: -0.2736, loss_critic: 1.4229, loss_rl_bc: 0.0101, il_score: 0.6247, rl_score: 0.6644, prev_frame_loss_waypoint_0: 0.2026, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.5846, grad_norm: 59.1820, il_score_sum: 63.4619, rl_score_sum: 65.2768, score_diff: -1.8149, il_win: 76.0000, rl_win: 183.5882
2025-09-24 09:54:11,114 - mmdet - INFO - Epoch [12][1660/3517]	lr: 2.828e-05, eta: 9:49:38, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1899, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2417, debug_std_frame_2: 0.2975, debug_std_frame_3: 0.3590, debug_std_frame_4: 0.4187, debug_std_frame_5: 0.4850, loss_rl: -0.2318, loss_critic: 1.5095, loss_rl_bc: 0.0115, il_score: 0.6185, rl_score: 0.6303, prev_frame_loss_waypoint_0: 0.1992, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.7181, grad_norm: 54.2573, il_score_sum: 63.4619, rl_score_sum: 65.2768, score_diff: -1.8149, il_win: 76.0000, rl_win: 183.5882
2025-09-24 09:54:27,108 - mmdet - INFO - Epoch [12][1680/3517]	lr: 2.828e-05, eta: 9:49:22, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2015, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2988, debug_std_frame_3: 0.3578, debug_std_frame_4: 0.4165, debug_std_frame_5: 0.4822, loss_rl: -0.2797, loss_critic: 1.3520, loss_rl_bc: 0.0105, il_score: 0.6181, rl_score: 0.6695, prev_frame_loss_waypoint_0: 0.2147, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.5347, grad_norm: 70.6327, il_score_sum: 63.4619, rl_score_sum: 65.2768, score_diff: -1.8149, il_win: 76.0000, rl_win: 183.5882
2025-09-24 09:54:43,338 - mmdet - INFO - Epoch [12][1700/3517]	lr: 2.828e-05, eta: 9:49:06, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1950, debug_std_frame_0: 0.2180, debug_std_frame_1: 0.2497, debug_std_frame_2: 0.3064, debug_std_frame_3: 0.3657, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4831, loss_rl: -0.2364, loss_critic: 1.4049, loss_rl_bc: 0.0142, il_score: 0.6137, rl_score: 0.6363, prev_frame_loss_waypoint_0: 0.2060, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.6226, grad_norm: 57.4750, il_score_sum: 63.4619, rl_score_sum: 65.2768, score_diff: -1.8149, il_win: 76.0000, rl_win: 183.5882
2025-09-24 09:54:59,682 - mmdet - INFO - Epoch [12][1720/3517]	lr: 2.828e-05, eta: 9:48:50, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.2177, debug_std_frame_0: 0.2184, debug_std_frame_1: 0.2506, debug_std_frame_2: 0.3099, debug_std_frame_3: 0.3705, debug_std_frame_4: 0.4351, debug_std_frame_5: 0.4993, loss_rl: -0.2166, loss_critic: 1.1612, loss_rl_bc: 0.0141, il_score: 0.6116, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.2248, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.4385, grad_norm: 58.1042, il_score_sum: 63.3729, rl_score_sum: 65.2621, score_diff: -1.8892, il_win: 76.0000, rl_win: 184.0556
2025-09-24 09:55:15,665 - mmdet - INFO - Epoch [12][1740/3517]	lr: 2.828e-05, eta: 9:48:34, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1888, debug_std_frame_0: 0.2244, debug_std_frame_1: 0.2584, debug_std_frame_2: 0.3103, debug_std_frame_3: 0.3678, debug_std_frame_4: 0.4241, debug_std_frame_5: 0.4899, loss_rl: -0.2132, loss_critic: 1.2862, loss_rl_bc: 0.0131, il_score: 0.6483, rl_score: 0.6548, prev_frame_loss_waypoint_0: 0.1937, prev_frame_loss_rl_bc_0: 0.0149, loss: 1.5093, grad_norm: 56.3299, il_score_sum: 63.3729, rl_score_sum: 65.2621, score_diff: -1.8892, il_win: 76.0000, rl_win: 184.0556
2025-09-24 09:55:31,538 - mmdet - INFO - Epoch [12][1760/3517]	lr: 2.828e-05, eta: 9:48:18, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1954, debug_std_frame_0: 0.2201, debug_std_frame_1: 0.2548, debug_std_frame_2: 0.3069, debug_std_frame_3: 0.3635, debug_std_frame_4: 0.4195, debug_std_frame_5: 0.4763, loss_rl: -0.2184, loss_critic: 1.5054, loss_rl_bc: 0.0128, il_score: 0.6126, rl_score: 0.6471, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.7350, grad_norm: 57.1947, il_score_sum: 63.3729, rl_score_sum: 65.2621, score_diff: -1.8892, il_win: 76.0000, rl_win: 184.0556
2025-09-24 09:55:47,517 - mmdet - INFO - Epoch [12][1780/3517]	lr: 2.828e-05, eta: 9:48:02, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2051, debug_std_frame_0: 0.2227, debug_std_frame_1: 0.2580, debug_std_frame_2: 0.3131, debug_std_frame_3: 0.3690, debug_std_frame_4: 0.4308, debug_std_frame_5: 0.4914, loss_rl: -0.2968, loss_critic: 1.3515, loss_rl_bc: 0.0132, il_score: 0.6407, rl_score: 0.6662, prev_frame_loss_waypoint_0: 0.2186, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.5319, grad_norm: 69.8254, il_score_sum: 63.3729, rl_score_sum: 65.2621, score_diff: -1.8892, il_win: 76.0000, rl_win: 184.0556
2025-09-24 09:56:03,528 - mmdet - INFO - Epoch [12][1800/3517]	lr: 2.828e-05, eta: 9:47:46, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1926, debug_std_frame_0: 0.2284, debug_std_frame_1: 0.2692, debug_std_frame_2: 0.3246, debug_std_frame_3: 0.3824, debug_std_frame_4: 0.4416, debug_std_frame_5: 0.5009, loss_rl: -0.2042, loss_critic: 1.1275, loss_rl_bc: 0.0126, il_score: 0.6195, rl_score: 0.6331, prev_frame_loss_waypoint_0: 0.2308, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.4031, grad_norm: 65.2098, il_score_sum: 63.3729, rl_score_sum: 65.2621, score_diff: -1.8892, il_win: 76.0000, rl_win: 184.0556
2025-09-24 09:56:19,756 - mmdet - INFO - Epoch [12][1820/3517]	lr: 2.828e-05, eta: 9:47:30, time: 0.812, data_time: 0.014, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2092, debug_std_frame_0: 0.2337, debug_std_frame_1: 0.2717, debug_std_frame_2: 0.3253, debug_std_frame_3: 0.3828, debug_std_frame_4: 0.4407, debug_std_frame_5: 0.5012, loss_rl: -0.2299, loss_critic: 1.4357, loss_rl_bc: 0.0191, il_score: 0.6028, rl_score: 0.6329, prev_frame_loss_waypoint_0: 0.2004, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.6718, grad_norm: 53.6351, il_score_sum: 63.3284, rl_score_sum: 65.2361, score_diff: -1.9077, il_win: 76.0000, rl_win: 184.5263
2025-09-24 09:56:35,874 - mmdet - INFO - Epoch [12][1840/3517]	lr: 2.828e-05, eta: 9:47:14, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1941, debug_std_frame_0: 0.2274, debug_std_frame_1: 0.2646, debug_std_frame_2: 0.3199, debug_std_frame_3: 0.3785, debug_std_frame_4: 0.4370, debug_std_frame_5: 0.4922, loss_rl: -0.2528, loss_critic: 1.3045, loss_rl_bc: 0.0152, il_score: 0.6521, rl_score: 0.6590, prev_frame_loss_waypoint_0: 0.2064, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.5090, grad_norm: 49.0773, il_score_sum: 63.3284, rl_score_sum: 65.2361, score_diff: -1.9077, il_win: 76.0000, rl_win: 184.5263
2025-09-24 09:56:51,939 - mmdet - INFO - Epoch [12][1860/3517]	lr: 2.828e-05, eta: 9:46:58, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2061, debug_std_frame_0: 0.2272, debug_std_frame_1: 0.2621, debug_std_frame_2: 0.3165, debug_std_frame_3: 0.3725, debug_std_frame_4: 0.4298, debug_std_frame_5: 0.4907, loss_rl: -0.2271, loss_critic: 1.3066, loss_rl_bc: 0.0202, il_score: 0.6421, rl_score: 0.6335, prev_frame_loss_waypoint_0: 0.2268, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.5832, grad_norm: 46.1291, il_score_sum: 63.3284, rl_score_sum: 65.2361, score_diff: -1.9077, il_win: 76.0000, rl_win: 184.5263
2025-09-24 09:57:08,138 - mmdet - INFO - Epoch [12][1880/3517]	lr: 2.828e-05, eta: 9:46:42, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1828, debug_std_frame_0: 0.2357, debug_std_frame_1: 0.2744, debug_std_frame_2: 0.3322, debug_std_frame_3: 0.3883, debug_std_frame_4: 0.4465, debug_std_frame_5: 0.5064, loss_rl: -0.2778, loss_critic: 1.4019, loss_rl_bc: 0.0126, il_score: 0.6400, rl_score: 0.6522, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.5614, grad_norm: 47.5139, il_score_sum: 63.3284, rl_score_sum: 65.2361, score_diff: -1.9077, il_win: 76.0000, rl_win: 184.5263
2025-09-24 09:57:24,057 - mmdet - INFO - Epoch [12][1900/3517]	lr: 2.828e-05, eta: 9:46:26, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.2050, debug_std_frame_0: 0.2481, debug_std_frame_1: 0.2836, debug_std_frame_2: 0.3329, debug_std_frame_3: 0.3872, debug_std_frame_4: 0.4436, debug_std_frame_5: 0.5030, loss_rl: -0.2600, loss_critic: 1.3455, loss_rl_bc: 0.0170, il_score: 0.6560, rl_score: 0.6435, prev_frame_loss_waypoint_0: 0.2231, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5741, grad_norm: 75.2935, il_score_sum: 63.3284, rl_score_sum: 65.2361, score_diff: -1.9077, il_win: 76.0000, rl_win: 184.5263
2025-09-24 09:57:40,144 - mmdet - INFO - Epoch [12][1920/3517]	lr: 2.828e-05, eta: 9:46:09, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.2153, debug_std_frame_0: 0.2421, debug_std_frame_1: 0.2768, debug_std_frame_2: 0.3228, debug_std_frame_3: 0.3744, debug_std_frame_4: 0.4269, debug_std_frame_5: 0.4836, loss_rl: -0.2368, loss_critic: 1.1821, loss_rl_bc: 0.0152, il_score: 0.6054, rl_score: 0.6238, prev_frame_loss_waypoint_0: 0.2276, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.4419, grad_norm: 76.7988, il_score_sum: 63.3720, rl_score_sum: 65.2134, score_diff: -1.8414, il_win: 76.0000, rl_win: 184.9500
2025-09-24 09:57:56,233 - mmdet - INFO - Epoch [12][1940/3517]	lr: 2.828e-05, eta: 9:45:53, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1913, debug_std_frame_0: 0.2388, debug_std_frame_1: 0.2733, debug_std_frame_2: 0.3201, debug_std_frame_3: 0.3718, debug_std_frame_4: 0.4237, debug_std_frame_5: 0.4775, loss_rl: -0.2794, loss_critic: 1.3350, loss_rl_bc: 0.0086, il_score: 0.6279, rl_score: 0.6780, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.4797, grad_norm: 63.1035, il_score_sum: 63.3720, rl_score_sum: 65.2134, score_diff: -1.8414, il_win: 76.0000, rl_win: 184.9500
2025-09-24 09:58:12,436 - mmdet - INFO - Epoch [12][1960/3517]	lr: 2.828e-05, eta: 9:45:38, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1739, debug_std_frame_0: 0.2386, debug_std_frame_1: 0.2709, debug_std_frame_2: 0.3133, debug_std_frame_3: 0.3629, debug_std_frame_4: 0.4123, debug_std_frame_5: 0.4617, loss_rl: -0.2202, loss_critic: 1.4378, loss_rl_bc: 0.0110, il_score: 0.6125, rl_score: 0.6146, prev_frame_loss_waypoint_0: 0.2029, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.6474, grad_norm: 53.8633, il_score_sum: 63.3720, rl_score_sum: 65.2134, score_diff: -1.8414, il_win: 76.0000, rl_win: 184.9500
2025-09-24 09:58:28,397 - mmdet - INFO - Epoch [12][1980/3517]	lr: 2.828e-05, eta: 9:45:21, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1985, debug_std_frame_0: 0.2365, debug_std_frame_1: 0.2684, debug_std_frame_2: 0.3137, debug_std_frame_3: 0.3650, debug_std_frame_4: 0.4173, debug_std_frame_5: 0.4722, loss_rl: -0.2167, loss_critic: 1.2272, loss_rl_bc: 0.0177, il_score: 0.6360, rl_score: 0.6365, prev_frame_loss_waypoint_0: 0.2120, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.4824, grad_norm: 52.3466, il_score_sum: 63.3720, rl_score_sum: 65.2134, score_diff: -1.8414, il_win: 76.0000, rl_win: 184.9500
2025-09-24 09:58:44,083 - mmdet - INFO - Epoch [12][2000/3517]	lr: 2.828e-05, eta: 9:45:05, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1846, debug_std_frame_0: 0.2456, debug_std_frame_1: 0.2808, debug_std_frame_2: 0.3276, debug_std_frame_3: 0.3797, debug_std_frame_4: 0.4329, debug_std_frame_5: 0.4846, loss_rl: -0.2398, loss_critic: 1.5070, loss_rl_bc: 0.0178, il_score: 0.6306, rl_score: 0.6112, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.7080, grad_norm: 54.9795, il_score_sum: 63.3720, rl_score_sum: 65.2134, score_diff: -1.8414, il_win: 76.0000, rl_win: 184.9500
2025-09-24 09:59:00,213 - mmdet - INFO - Epoch [12][2020/3517]	lr: 2.828e-05, eta: 9:44:49, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1563, debug_std_frame_0: 0.2469, debug_std_frame_1: 0.2810, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3787, debug_std_frame_4: 0.4317, debug_std_frame_5: 0.4829, loss_rl: -0.2940, loss_critic: 1.3368, loss_rl_bc: 0.0099, il_score: 0.6624, rl_score: 0.6660, prev_frame_loss_waypoint_0: 0.1766, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4241, grad_norm: 42.3317, il_score_sum: 63.3423, rl_score_sum: 65.1940, score_diff: -1.8516, il_win: 76.0000, rl_win: 185.8000
2025-09-24 09:59:16,378 - mmdet - INFO - Epoch [12][2040/3517]	lr: 2.828e-05, eta: 9:44:33, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1784, debug_std_frame_0: 0.2395, debug_std_frame_1: 0.2733, debug_std_frame_2: 0.3186, debug_std_frame_3: 0.3708, debug_std_frame_4: 0.4275, debug_std_frame_5: 0.4836, loss_rl: -0.2386, loss_critic: 1.3964, loss_rl_bc: 0.0101, il_score: 0.6105, rl_score: 0.6167, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.5789, grad_norm: 59.3157, il_score_sum: 63.3423, rl_score_sum: 65.1940, score_diff: -1.8516, il_win: 76.0000, rl_win: 185.8000
2025-09-24 09:59:32,337 - mmdet - INFO - Epoch [12][2060/3517]	lr: 2.828e-05, eta: 9:44:17, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1846, debug_std_frame_0: 0.2258, debug_std_frame_1: 0.2512, debug_std_frame_2: 0.2957, debug_std_frame_3: 0.3484, debug_std_frame_4: 0.4021, debug_std_frame_5: 0.4558, loss_rl: -0.2586, loss_critic: 1.2556, loss_rl_bc: 0.0096, il_score: 0.6406, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.2003, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4267, grad_norm: 57.9502, il_score_sum: 63.3423, rl_score_sum: 65.1940, score_diff: -1.8516, il_win: 76.0000, rl_win: 185.8000
2025-09-24 09:59:48,507 - mmdet - INFO - Epoch [12][2080/3517]	lr: 2.828e-05, eta: 9:44:01, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1713, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2428, debug_std_frame_2: 0.2861, debug_std_frame_3: 0.3389, debug_std_frame_4: 0.3909, debug_std_frame_5: 0.4434, loss_rl: -0.2449, loss_critic: 1.5291, loss_rl_bc: 0.0144, il_score: 0.6681, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6994, grad_norm: 53.6092, il_score_sum: 63.3423, rl_score_sum: 65.1940, score_diff: -1.8516, il_win: 76.0000, rl_win: 185.8000
2025-09-24 10:00:04,302 - mmdet - INFO - Epoch [12][2100/3517]	lr: 2.828e-05, eta: 9:43:45, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1888, debug_std_frame_0: 0.2313, debug_std_frame_1: 0.2616, debug_std_frame_2: 0.3058, debug_std_frame_3: 0.3574, debug_std_frame_4: 0.4131, debug_std_frame_5: 0.4705, loss_rl: -0.2041, loss_critic: 1.1166, loss_rl_bc: 0.0168, il_score: 0.6594, rl_score: 0.6533, prev_frame_loss_waypoint_0: 0.2095, prev_frame_loss_rl_bc_0: 0.0234, loss: 1.3778, grad_norm: 49.7816, il_score_sum: 63.3423, rl_score_sum: 65.1940, score_diff: -1.8516, il_win: 76.0000, rl_win: 185.8000
2025-09-24 10:00:20,610 - mmdet - INFO - Epoch [12][2120/3517]	lr: 2.828e-05, eta: 9:43:29, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1890, debug_std_frame_0: 0.2480, debug_std_frame_1: 0.2816, debug_std_frame_2: 0.3254, debug_std_frame_3: 0.3808, debug_std_frame_4: 0.4359, debug_std_frame_5: 0.4925, loss_rl: -0.2485, loss_critic: 1.3581, loss_rl_bc: 0.0111, il_score: 0.6382, rl_score: 0.6516, prev_frame_loss_waypoint_0: 0.2022, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.5599, grad_norm: 57.3842, il_score_sum: 63.4486, rl_score_sum: 65.2042, score_diff: -1.7556, il_win: 76.0000, rl_win: 186.6000
2025-09-24 10:00:36,524 - mmdet - INFO - Epoch [12][2140/3517]	lr: 2.828e-05, eta: 9:43:13, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1816, debug_std_frame_0: 0.2508, debug_std_frame_1: 0.2830, debug_std_frame_2: 0.3301, debug_std_frame_3: 0.3849, debug_std_frame_4: 0.4410, debug_std_frame_5: 0.5020, loss_rl: -0.2613, loss_critic: 1.4406, loss_rl_bc: 0.0120, il_score: 0.6007, rl_score: 0.6293, prev_frame_loss_waypoint_0: 0.2107, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.6298, grad_norm: 50.4469, il_score_sum: 63.4486, rl_score_sum: 65.2042, score_diff: -1.7556, il_win: 76.0000, rl_win: 186.6000
2025-09-24 10:00:52,572 - mmdet - INFO - Epoch [12][2160/3517]	lr: 2.828e-05, eta: 9:42:56, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2178, debug_std_frame_0: 0.2478, debug_std_frame_1: 0.2790, debug_std_frame_2: 0.3230, debug_std_frame_3: 0.3762, debug_std_frame_4: 0.4297, debug_std_frame_5: 0.4876, loss_rl: -0.2728, loss_critic: 1.1999, loss_rl_bc: 0.0142, il_score: 0.6335, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.2103, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4064, grad_norm: 62.5840, il_score_sum: 63.4486, rl_score_sum: 65.2042, score_diff: -1.7556, il_win: 76.0000, rl_win: 186.6000
2025-09-24 10:01:08,434 - mmdet - INFO - Epoch [12][2180/3517]	lr: 2.828e-05, eta: 9:42:40, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1876, debug_std_frame_0: 0.2303, debug_std_frame_1: 0.2652, debug_std_frame_2: 0.3154, debug_std_frame_3: 0.3720, debug_std_frame_4: 0.4308, debug_std_frame_5: 0.4899, loss_rl: -0.2880, loss_critic: 1.1234, loss_rl_bc: 0.0100, il_score: 0.6379, rl_score: 0.6671, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.2628, grad_norm: 46.8165, il_score_sum: 63.4486, rl_score_sum: 65.2042, score_diff: -1.7556, il_win: 76.0000, rl_win: 186.6000
2025-09-24 10:01:24,562 - mmdet - INFO - Epoch [12][2200/3517]	lr: 2.828e-05, eta: 9:42:24, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1717, debug_std_frame_0: 0.2341, debug_std_frame_1: 0.2630, debug_std_frame_2: 0.3078, debug_std_frame_3: 0.3640, debug_std_frame_4: 0.4181, debug_std_frame_5: 0.4763, loss_rl: -0.2952, loss_critic: 1.1670, loss_rl_bc: 0.0079, il_score: 0.6855, rl_score: 0.6960, prev_frame_loss_waypoint_0: 0.2075, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.3036, grad_norm: 47.7118, il_score_sum: 63.4486, rl_score_sum: 65.2042, score_diff: -1.7556, il_win: 76.0000, rl_win: 186.6000
2025-09-24 10:01:40,927 - mmdet - INFO - Epoch [12][2220/3517]	lr: 2.828e-05, eta: 9:42:08, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1765, debug_std_frame_0: 0.2339, debug_std_frame_1: 0.2610, debug_std_frame_2: 0.3051, debug_std_frame_3: 0.3573, debug_std_frame_4: 0.4102, debug_std_frame_5: 0.4650, loss_rl: -0.2462, loss_critic: 1.4120, loss_rl_bc: 0.0127, il_score: 0.6538, rl_score: 0.6424, prev_frame_loss_waypoint_0: 0.2094, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.6104, grad_norm: 47.5559, il_score_sum: 63.4809, rl_score_sum: 65.2630, score_diff: -1.7821, il_win: 76.0000, rl_win: 187.4000
2025-09-24 10:01:56,898 - mmdet - INFO - Epoch [12][2240/3517]	lr: 2.828e-05, eta: 9:41:52, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.2161, debug_std_frame_0: 0.2821, debug_std_frame_1: 0.3159, debug_std_frame_2: 0.3692, debug_std_frame_3: 0.4271, debug_std_frame_4: 0.4862, debug_std_frame_5: 0.5479, loss_rl: -0.1692, loss_critic: 1.2644, loss_rl_bc: 0.0348, il_score: 0.5788, rl_score: 0.5867, prev_frame_loss_waypoint_0: 0.2309, prev_frame_loss_rl_bc_0: 0.0401, loss: 1.6458, grad_norm: 58.2318, il_score_sum: 63.4809, rl_score_sum: 65.2630, score_diff: -1.7821, il_win: 76.0000, rl_win: 187.4000
2025-09-24 10:02:12,819 - mmdet - INFO - Epoch [12][2260/3517]	lr: 2.828e-05, eta: 9:41:36, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1991, debug_std_frame_0: 0.2893, debug_std_frame_1: 0.3189, debug_std_frame_2: 0.3632, debug_std_frame_3: 0.4135, debug_std_frame_4: 0.4651, debug_std_frame_5: 0.5231, loss_rl: -0.2707, loss_critic: 1.5470, loss_rl_bc: 0.0176, il_score: 0.6303, rl_score: 0.6524, prev_frame_loss_waypoint_0: 0.2089, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.7430, grad_norm: 63.8139, il_score_sum: 63.4809, rl_score_sum: 65.2630, score_diff: -1.7821, il_win: 76.0000, rl_win: 187.4000
2025-09-24 10:02:28,798 - mmdet - INFO - Epoch [12][2280/3517]	lr: 2.828e-05, eta: 9:41:20, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1818, debug_std_frame_0: 0.2688, debug_std_frame_1: 0.3016, debug_std_frame_2: 0.3482, debug_std_frame_3: 0.4003, debug_std_frame_4: 0.4525, debug_std_frame_5: 0.5099, loss_rl: -0.2568, loss_critic: 1.1273, loss_rl_bc: 0.0096, il_score: 0.6463, rl_score: 0.6675, prev_frame_loss_waypoint_0: 0.2198, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.3219, grad_norm: 67.4703, il_score_sum: 63.4809, rl_score_sum: 65.2630, score_diff: -1.7821, il_win: 76.0000, rl_win: 187.4000
2025-09-24 10:02:44,707 - mmdet - INFO - Epoch [12][2300/3517]	lr: 2.828e-05, eta: 9:41:04, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2494, debug_std_frame_0: 0.2609, debug_std_frame_1: 0.2943, debug_std_frame_2: 0.3399, debug_std_frame_3: 0.3941, debug_std_frame_4: 0.4457, debug_std_frame_5: 0.5019, loss_rl: -0.2365, loss_critic: 1.2617, loss_rl_bc: 0.0201, il_score: 0.5855, rl_score: 0.6249, prev_frame_loss_waypoint_0: 0.2407, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5785, grad_norm: 76.5403, il_score_sum: 63.4809, rl_score_sum: 65.2630, score_diff: -1.7821, il_win: 76.0000, rl_win: 187.4000
2025-09-24 10:03:00,967 - mmdet - INFO - Epoch [12][2320/3517]	lr: 2.828e-05, eta: 9:40:48, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2145, debug_std_frame_0: 0.2569, debug_std_frame_1: 0.2881, debug_std_frame_2: 0.3339, debug_std_frame_3: 0.3880, debug_std_frame_4: 0.4432, debug_std_frame_5: 0.5090, loss_rl: -0.2332, loss_critic: 1.2903, loss_rl_bc: 0.0134, il_score: 0.6068, rl_score: 0.6356, prev_frame_loss_waypoint_0: 0.2128, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.5367, grad_norm: 68.1739, il_score_sum: 63.3571, rl_score_sum: 65.1378, score_diff: -1.7807, il_win: 76.0000, rl_win: 188.2000
2025-09-24 10:03:16,922 - mmdet - INFO - Epoch [12][2340/3517]	lr: 2.828e-05, eta: 9:40:32, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1826, debug_std_frame_0: 0.2479, debug_std_frame_1: 0.2769, debug_std_frame_2: 0.3171, debug_std_frame_3: 0.3665, debug_std_frame_4: 0.4182, debug_std_frame_5: 0.4763, loss_rl: -0.3003, loss_critic: 1.2884, loss_rl_bc: 0.0069, il_score: 0.6260, rl_score: 0.6814, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.4186, grad_norm: 52.0908, il_score_sum: 63.3571, rl_score_sum: 65.1378, score_diff: -1.7807, il_win: 76.0000, rl_win: 188.2000
2025-09-24 10:03:33,064 - mmdet - INFO - Epoch [12][2360/3517]	lr: 2.828e-05, eta: 9:40:16, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2139, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2753, debug_std_frame_2: 0.3193, debug_std_frame_3: 0.3711, debug_std_frame_4: 0.4243, debug_std_frame_5: 0.4824, loss_rl: -0.2431, loss_critic: 1.2411, loss_rl_bc: 0.0155, il_score: 0.6214, rl_score: 0.6499, prev_frame_loss_waypoint_0: 0.2189, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.4900, grad_norm: 56.0348, il_score_sum: 63.3571, rl_score_sum: 65.1378, score_diff: -1.7807, il_win: 76.0000, rl_win: 188.2000
2025-09-24 10:03:48,916 - mmdet - INFO - Epoch [12][2380/3517]	lr: 2.828e-05, eta: 9:40:00, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1941, debug_std_frame_0: 0.2400, debug_std_frame_1: 0.2717, debug_std_frame_2: 0.3207, debug_std_frame_3: 0.3752, debug_std_frame_4: 0.4298, debug_std_frame_5: 0.4874, loss_rl: -0.2116, loss_critic: 1.3202, loss_rl_bc: 0.0164, il_score: 0.6190, rl_score: 0.6144, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.5513, grad_norm: 62.1884, il_score_sum: 63.3571, rl_score_sum: 65.1378, score_diff: -1.7807, il_win: 76.0000, rl_win: 188.2000
2025-09-24 10:04:04,607 - mmdet - INFO - Epoch [12][2400/3517]	lr: 2.828e-05, eta: 9:39:43, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2179, debug_std_frame_0: 0.2486, debug_std_frame_1: 0.2818, debug_std_frame_2: 0.3342, debug_std_frame_3: 0.3887, debug_std_frame_4: 0.4452, debug_std_frame_5: 0.5074, loss_rl: -0.1597, loss_critic: 1.4330, loss_rl_bc: 0.0213, il_score: 0.5759, rl_score: 0.5862, prev_frame_loss_waypoint_0: 0.2283, prev_frame_loss_rl_bc_0: 0.0223, loss: 1.7898, grad_norm: 53.6869, il_score_sum: 63.3571, rl_score_sum: 65.1378, score_diff: -1.7807, il_win: 76.0000, rl_win: 188.2000
2025-09-24 10:04:20,776 - mmdet - INFO - Epoch [12][2420/3517]	lr: 2.828e-05, eta: 9:39:27, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1999, debug_std_frame_0: 0.2476, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3251, debug_std_frame_3: 0.3823, debug_std_frame_4: 0.4369, debug_std_frame_5: 0.4982, loss_rl: -0.2088, loss_critic: 1.3118, loss_rl_bc: 0.0170, il_score: 0.6224, rl_score: 0.6251, prev_frame_loss_waypoint_0: 0.2048, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.5687, grad_norm: 51.2994, il_score_sum: 63.2202, rl_score_sum: 64.9908, score_diff: -1.7706, il_win: 76.0000, rl_win: 189.0000
2025-09-24 10:04:36,648 - mmdet - INFO - Epoch [12][2440/3517]	lr: 2.828e-05, eta: 9:39:11, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2120, debug_std_frame_0: 0.2507, debug_std_frame_1: 0.2806, debug_std_frame_2: 0.3274, debug_std_frame_3: 0.3815, debug_std_frame_4: 0.4353, debug_std_frame_5: 0.4936, loss_rl: -0.2125, loss_critic: 1.3991, loss_rl_bc: 0.0223, il_score: 0.6159, rl_score: 0.6270, prev_frame_loss_waypoint_0: 0.2333, prev_frame_loss_rl_bc_0: 0.0254, loss: 1.7056, grad_norm: 66.2535, il_score_sum: 63.2202, rl_score_sum: 64.9908, score_diff: -1.7706, il_win: 76.0000, rl_win: 189.0000
2025-09-24 10:04:52,468 - mmdet - INFO - Epoch [12][2460/3517]	lr: 2.828e-05, eta: 9:38:55, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1822, debug_std_frame_0: 0.2645, debug_std_frame_1: 0.2948, debug_std_frame_2: 0.3435, debug_std_frame_3: 0.4004, debug_std_frame_4: 0.4601, debug_std_frame_5: 0.5207, loss_rl: -0.1967, loss_critic: 1.2513, loss_rl_bc: 0.0185, il_score: 0.6245, rl_score: 0.6277, prev_frame_loss_waypoint_0: 0.2056, prev_frame_loss_rl_bc_0: 0.0219, loss: 1.5093, grad_norm: 57.8646, il_score_sum: 63.2202, rl_score_sum: 64.9908, score_diff: -1.7706, il_win: 76.0000, rl_win: 189.0000
2025-09-24 10:05:08,239 - mmdet - INFO - Epoch [12][2480/3517]	lr: 2.828e-05, eta: 9:38:38, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1786, debug_std_frame_0: 0.2616, debug_std_frame_1: 0.2921, debug_std_frame_2: 0.3430, debug_std_frame_3: 0.4011, debug_std_frame_4: 0.4596, debug_std_frame_5: 0.5210, loss_rl: -0.2661, loss_critic: 1.1898, loss_rl_bc: 0.0116, il_score: 0.6269, rl_score: 0.6322, prev_frame_loss_waypoint_0: 0.1966, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.3512, grad_norm: 46.3148, il_score_sum: 63.2202, rl_score_sum: 64.9908, score_diff: -1.7706, il_win: 76.0000, rl_win: 189.0000
2025-09-24 10:05:24,111 - mmdet - INFO - Epoch [12][2500/3517]	lr: 2.828e-05, eta: 9:38:22, time: 0.794, data_time: 0.014, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1779, debug_std_frame_0: 0.2491, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3236, debug_std_frame_3: 0.3774, debug_std_frame_4: 0.4305, debug_std_frame_5: 0.4831, loss_rl: -0.2604, loss_critic: 1.9560, loss_rl_bc: 0.0154, il_score: 0.6291, rl_score: 0.6448, prev_frame_loss_waypoint_0: 0.2017, prev_frame_loss_rl_bc_0: 0.0150, loss: 2.1331, grad_norm: 64.8076, il_score_sum: 63.2202, rl_score_sum: 64.9908, score_diff: -1.7706, il_win: 76.0000, rl_win: 189.0000
2025-09-24 10:05:40,175 - mmdet - INFO - Epoch [12][2520/3517]	lr: 2.828e-05, eta: 9:38:06, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2124, debug_std_frame_0: 0.2461, debug_std_frame_1: 0.2763, debug_std_frame_2: 0.3317, debug_std_frame_3: 0.3926, debug_std_frame_4: 0.4523, debug_std_frame_5: 0.5136, loss_rl: -0.2541, loss_critic: 1.2716, loss_rl_bc: 0.0140, il_score: 0.6172, rl_score: 0.6355, prev_frame_loss_waypoint_0: 0.2378, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.5282, grad_norm: 57.5504, il_score_sum: 63.2222, rl_score_sum: 64.9035, score_diff: -1.6813, il_win: 76.0000, rl_win: 189.8000
2025-09-24 10:05:56,101 - mmdet - INFO - Epoch [12][2540/3517]	lr: 2.828e-05, eta: 9:37:50, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1944, debug_std_frame_0: 0.2423, debug_std_frame_1: 0.2712, debug_std_frame_2: 0.3249, debug_std_frame_3: 0.3817, debug_std_frame_4: 0.4389, debug_std_frame_5: 0.4942, loss_rl: -0.2166, loss_critic: 1.4269, loss_rl_bc: 0.0171, il_score: 0.6152, rl_score: 0.6402, prev_frame_loss_waypoint_0: 0.1991, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.6657, grad_norm: 49.4442, il_score_sum: 63.2222, rl_score_sum: 64.9035, score_diff: -1.6813, il_win: 76.0000, rl_win: 189.8000
2025-09-24 10:06:12,024 - mmdet - INFO - Epoch [12][2560/3517]	lr: 2.828e-05, eta: 9:37:33, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.2163, debug_std_frame_0: 0.2511, debug_std_frame_1: 0.2848, debug_std_frame_2: 0.3310, debug_std_frame_3: 0.3853, debug_std_frame_4: 0.4415, debug_std_frame_5: 0.5014, loss_rl: -0.2246, loss_critic: 1.5028, loss_rl_bc: 0.0155, il_score: 0.6178, rl_score: 0.6353, prev_frame_loss_waypoint_0: 0.2180, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.7719, grad_norm: 66.1347, il_score_sum: 63.2222, rl_score_sum: 64.9035, score_diff: -1.6813, il_win: 76.0000, rl_win: 189.8000
2025-09-24 10:06:27,902 - mmdet - INFO - Epoch [12][2580/3517]	lr: 2.828e-05, eta: 9:37:17, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.2023, debug_std_frame_0: 0.2453, debug_std_frame_1: 0.2802, debug_std_frame_2: 0.3347, debug_std_frame_3: 0.3975, debug_std_frame_4: 0.4635, debug_std_frame_5: 0.5294, loss_rl: -0.2179, loss_critic: 1.1583, loss_rl_bc: 0.0154, il_score: 0.6267, rl_score: 0.6584, prev_frame_loss_waypoint_0: 0.2152, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.4165, grad_norm: 46.9716, il_score_sum: 63.2222, rl_score_sum: 64.9035, score_diff: -1.6813, il_win: 76.0000, rl_win: 189.8000
2025-09-24 10:06:43,611 - mmdet - INFO - Epoch [12][2600/3517]	lr: 2.828e-05, eta: 9:37:01, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1882, debug_std_frame_0: 0.2329, debug_std_frame_1: 0.2630, debug_std_frame_2: 0.3114, debug_std_frame_3: 0.3685, debug_std_frame_4: 0.4269, debug_std_frame_5: 0.4863, loss_rl: -0.2152, loss_critic: 1.4337, loss_rl_bc: 0.0143, il_score: 0.6279, rl_score: 0.6095, prev_frame_loss_waypoint_0: 0.2046, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6671, grad_norm: 45.7892, il_score_sum: 63.2222, rl_score_sum: 64.9035, score_diff: -1.6813, il_win: 76.0000, rl_win: 189.8000
2025-09-24 10:06:59,549 - mmdet - INFO - Epoch [12][2620/3517]	lr: 2.828e-05, eta: 9:36:45, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1806, debug_std_frame_0: 0.2381, debug_std_frame_1: 0.2690, debug_std_frame_2: 0.3156, debug_std_frame_3: 0.3709, debug_std_frame_4: 0.4275, debug_std_frame_5: 0.4873, loss_rl: -0.1999, loss_critic: 1.7149, loss_rl_bc: 0.0171, il_score: 0.6171, rl_score: 0.6356, prev_frame_loss_waypoint_0: 0.2016, prev_frame_loss_rl_bc_0: 0.0181, loss: 1.9599, grad_norm: 54.8715, il_score_sum: 63.1000, rl_score_sum: 64.7575, score_diff: -1.6575, il_win: 76.0000, rl_win: 190.6000
2025-09-24 10:07:15,428 - mmdet - INFO - Epoch [12][2640/3517]	lr: 2.828e-05, eta: 9:36:28, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1984, debug_std_frame_0: 0.2415, debug_std_frame_1: 0.2753, debug_std_frame_2: 0.3250, debug_std_frame_3: 0.3800, debug_std_frame_4: 0.4363, debug_std_frame_5: 0.4971, loss_rl: -0.2123, loss_critic: 1.3667, loss_rl_bc: 0.0206, il_score: 0.6136, rl_score: 0.6070, prev_frame_loss_waypoint_0: 0.2100, prev_frame_loss_rl_bc_0: 0.0224, loss: 1.6340, grad_norm: 44.0889, il_score_sum: 63.1000, rl_score_sum: 64.7575, score_diff: -1.6575, il_win: 76.0000, rl_win: 190.6000
2025-09-24 10:07:31,169 - mmdet - INFO - Epoch [12][2660/3517]	lr: 2.828e-05, eta: 9:36:12, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0316, loss_waypoint: 0.1788, debug_std_frame_0: 0.2576, debug_std_frame_1: 0.2866, debug_std_frame_2: 0.3324, debug_std_frame_3: 0.3839, debug_std_frame_4: 0.4393, debug_std_frame_5: 0.4979, loss_rl: -0.3111, loss_critic: 1.4525, loss_rl_bc: 0.0072, il_score: 0.6445, rl_score: 0.6861, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.5660, grad_norm: 50.3434, il_score_sum: 63.1000, rl_score_sum: 64.7575, score_diff: -1.6575, il_win: 76.0000, rl_win: 190.6000
2025-09-24 10:07:46,985 - mmdet - INFO - Epoch [12][2680/3517]	lr: 2.828e-05, eta: 9:35:56, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1818, debug_std_frame_0: 0.2409, debug_std_frame_1: 0.2721, debug_std_frame_2: 0.3213, debug_std_frame_3: 0.3765, debug_std_frame_4: 0.4325, debug_std_frame_5: 0.4875, loss_rl: -0.2426, loss_critic: 1.2256, loss_rl_bc: 0.0089, il_score: 0.6179, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.1965, prev_frame_loss_rl_bc_0: 0.0107, loss: 1.4099, grad_norm: 48.1562, il_score_sum: 63.1000, rl_score_sum: 64.7575, score_diff: -1.6575, il_win: 76.0000, rl_win: 190.6000
2025-09-24 10:08:02,977 - mmdet - INFO - Epoch [12][2700/3517]	lr: 2.828e-05, eta: 9:35:40, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1834, debug_std_frame_0: 0.2272, debug_std_frame_1: 0.2534, debug_std_frame_2: 0.2976, debug_std_frame_3: 0.3500, debug_std_frame_4: 0.4038, debug_std_frame_5: 0.4580, loss_rl: -0.2778, loss_critic: 1.4829, loss_rl_bc: 0.0126, il_score: 0.6616, rl_score: 0.6854, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.6161, grad_norm: 44.5290, il_score_sum: 63.1000, rl_score_sum: 64.7575, score_diff: -1.6575, il_win: 76.0000, rl_win: 190.6000
2025-09-24 10:08:19,126 - mmdet - INFO - Epoch [12][2720/3517]	lr: 2.828e-05, eta: 9:35:24, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1986, debug_std_frame_0: 0.2279, debug_std_frame_1: 0.2540, debug_std_frame_2: 0.3016, debug_std_frame_3: 0.3560, debug_std_frame_4: 0.4115, debug_std_frame_5: 0.4665, loss_rl: -0.2121, loss_critic: 1.1390, loss_rl_bc: 0.0150, il_score: 0.6112, rl_score: 0.6424, prev_frame_loss_waypoint_0: 0.2177, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.4059, grad_norm: 53.7897, il_score_sum: 62.9553, rl_score_sum: 64.6674, score_diff: -1.7121, il_win: 76.0000, rl_win: 191.4000
2025-09-24 10:08:34,911 - mmdet - INFO - Epoch [12][2740/3517]	lr: 2.828e-05, eta: 9:35:07, time: 0.789, data_time: 0.014, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1909, debug_std_frame_0: 0.2367, debug_std_frame_1: 0.2669, debug_std_frame_2: 0.3146, debug_std_frame_3: 0.3713, debug_std_frame_4: 0.4298, debug_std_frame_5: 0.4875, loss_rl: -0.2089, loss_critic: 1.6605, loss_rl_bc: 0.0182, il_score: 0.6123, rl_score: 0.6364, prev_frame_loss_waypoint_0: 0.1945, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.8988, grad_norm: 48.4606, il_score_sum: 62.9553, rl_score_sum: 64.6674, score_diff: -1.7121, il_win: 76.0000, rl_win: 191.4000
2025-09-24 10:08:50,885 - mmdet - INFO - Epoch [12][2760/3517]	lr: 2.828e-05, eta: 9:34:51, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1870, debug_std_frame_0: 0.2404, debug_std_frame_1: 0.2699, debug_std_frame_2: 0.3181, debug_std_frame_3: 0.3711, debug_std_frame_4: 0.4326, debug_std_frame_5: 0.4879, loss_rl: -0.2543, loss_critic: 1.5350, loss_rl_bc: 0.0150, il_score: 0.6313, rl_score: 0.6218, prev_frame_loss_waypoint_0: 0.2161, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.7433, grad_norm: 60.5548, il_score_sum: 62.9553, rl_score_sum: 64.6674, score_diff: -1.7121, il_win: 76.0000, rl_win: 191.4000
2025-09-24 10:09:06,805 - mmdet - INFO - Epoch [12][2780/3517]	lr: 2.828e-05, eta: 9:34:35, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2204, debug_std_frame_0: 0.2415, debug_std_frame_1: 0.2686, debug_std_frame_2: 0.3177, debug_std_frame_3: 0.3692, debug_std_frame_4: 0.4285, debug_std_frame_5: 0.4819, loss_rl: -0.2526, loss_critic: 1.2334, loss_rl_bc: 0.0101, il_score: 0.5965, rl_score: 0.6443, prev_frame_loss_waypoint_0: 0.2644, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.5183, grad_norm: 65.6479, il_score_sum: 62.9553, rl_score_sum: 64.6674, score_diff: -1.7121, il_win: 76.0000, rl_win: 191.4000
2025-09-24 10:09:22,559 - mmdet - INFO - Epoch [12][2800/3517]	lr: 2.828e-05, eta: 9:34:19, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.2010, debug_std_frame_0: 0.2365, debug_std_frame_1: 0.2702, debug_std_frame_2: 0.3279, debug_std_frame_3: 0.3882, debug_std_frame_4: 0.4519, debug_std_frame_5: 0.5114, loss_rl: -0.2171, loss_critic: 1.1790, loss_rl_bc: 0.0191, il_score: 0.6344, rl_score: 0.6369, prev_frame_loss_waypoint_0: 0.2027, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.4270, grad_norm: 45.4485, il_score_sum: 62.9553, rl_score_sum: 64.6674, score_diff: -1.7121, il_win: 76.0000, rl_win: 191.4000
2025-09-24 10:09:38,448 - mmdet - INFO - Epoch [12][2820/3517]	lr: 2.828e-05, eta: 9:34:02, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1842, debug_std_frame_0: 0.2373, debug_std_frame_1: 0.2661, debug_std_frame_2: 0.3152, debug_std_frame_3: 0.3698, debug_std_frame_4: 0.4269, debug_std_frame_5: 0.4830, loss_rl: -0.2452, loss_critic: 1.4131, loss_rl_bc: 0.0135, il_score: 0.6286, rl_score: 0.6321, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.5955, grad_norm: 48.4721, il_score_sum: 62.8716, rl_score_sum: 64.5943, score_diff: -1.7227, il_win: 76.0000, rl_win: 192.2000
2025-09-24 10:09:54,046 - mmdet - INFO - Epoch [12][2840/3517]	lr: 2.828e-05, eta: 9:33:46, time: 0.780, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1618, debug_std_frame_0: 0.2360, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3205, debug_std_frame_3: 0.3779, debug_std_frame_4: 0.4407, debug_std_frame_5: 0.4999, loss_rl: -0.2654, loss_critic: 1.3042, loss_rl_bc: 0.0086, il_score: 0.6369, rl_score: 0.6688, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4338, grad_norm: 36.3707, il_score_sum: 62.8716, rl_score_sum: 64.5943, score_diff: -1.7227, il_win: 76.0000, rl_win: 192.2000
2025-09-24 10:10:09,949 - mmdet - INFO - Epoch [12][2860/3517]	lr: 2.828e-05, eta: 9:33:30, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1877, debug_std_frame_0: 0.2308, debug_std_frame_1: 0.2553, debug_std_frame_2: 0.3048, debug_std_frame_3: 0.3566, debug_std_frame_4: 0.4114, debug_std_frame_5: 0.4682, loss_rl: -0.2484, loss_critic: 1.4848, loss_rl_bc: 0.0120, il_score: 0.6288, rl_score: 0.6474, prev_frame_loss_waypoint_0: 0.2170, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.6972, grad_norm: 63.1827, il_score_sum: 62.8716, rl_score_sum: 64.5943, score_diff: -1.7227, il_win: 76.0000, rl_win: 192.2000
2025-09-24 10:10:25,874 - mmdet - INFO - Epoch [12][2880/3517]	lr: 2.828e-05, eta: 9:33:13, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2056, debug_std_frame_0: 0.2341, debug_std_frame_1: 0.2614, debug_std_frame_2: 0.3105, debug_std_frame_3: 0.3656, debug_std_frame_4: 0.4235, debug_std_frame_5: 0.4822, loss_rl: -0.1881, loss_critic: 1.2756, loss_rl_bc: 0.0230, il_score: 0.6261, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0205, loss: 1.5575, grad_norm: 59.9191, il_score_sum: 62.8716, rl_score_sum: 64.5943, score_diff: -1.7227, il_win: 76.0000, rl_win: 192.2000
2025-09-24 10:10:41,703 - mmdet - INFO - Epoch [12][2900/3517]	lr: 2.828e-05, eta: 9:32:57, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1809, debug_std_frame_0: 0.2610, debug_std_frame_1: 0.2885, debug_std_frame_2: 0.3383, debug_std_frame_3: 0.3909, debug_std_frame_4: 0.4489, debug_std_frame_5: 0.5089, loss_rl: -0.1509, loss_critic: 1.2758, loss_rl_bc: 0.0291, il_score: 0.6284, rl_score: 0.5836, prev_frame_loss_waypoint_0: 0.1929, prev_frame_loss_rl_bc_0: 0.0279, loss: 1.5832, grad_norm: 57.3553, il_score_sum: 62.8716, rl_score_sum: 64.5943, score_diff: -1.7227, il_win: 76.0000, rl_win: 192.2000
2025-09-24 10:10:57,703 - mmdet - INFO - Epoch [12][2920/3517]	lr: 2.828e-05, eta: 9:32:41, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.2165, debug_std_frame_0: 0.2761, debug_std_frame_1: 0.3053, debug_std_frame_2: 0.3555, debug_std_frame_3: 0.4078, debug_std_frame_4: 0.4632, debug_std_frame_5: 0.5205, loss_rl: -0.2903, loss_critic: 1.5924, loss_rl_bc: 0.0197, il_score: 0.5943, rl_score: 0.6273, prev_frame_loss_waypoint_0: 0.2268, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.8091, grad_norm: 51.0482, il_score_sum: 62.8658, rl_score_sum: 64.5454, score_diff: -1.6796, il_win: 76.0000, rl_win: 192.9500
2025-09-24 10:11:13,539 - mmdet - INFO - Epoch [12][2940/3517]	lr: 2.828e-05, eta: 9:32:25, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2050, debug_std_frame_0: 0.2760, debug_std_frame_1: 0.3042, debug_std_frame_2: 0.3534, debug_std_frame_3: 0.4054, debug_std_frame_4: 0.4595, debug_std_frame_5: 0.5167, loss_rl: -0.2850, loss_critic: 1.6152, loss_rl_bc: 0.0237, il_score: 0.6307, rl_score: 0.6439, prev_frame_loss_waypoint_0: 0.2179, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.8198, grad_norm: 57.1179, il_score_sum: 62.8658, rl_score_sum: 64.5454, score_diff: -1.6796, il_win: 76.0000, rl_win: 192.9500
2025-09-24 10:11:29,442 - mmdet - INFO - Epoch [12][2960/3517]	lr: 2.828e-05, eta: 9:32:08, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.2148, debug_std_frame_0: 0.2564, debug_std_frame_1: 0.2866, debug_std_frame_2: 0.3380, debug_std_frame_3: 0.3914, debug_std_frame_4: 0.4461, debug_std_frame_5: 0.5009, loss_rl: -0.2131, loss_critic: 1.1021, loss_rl_bc: 0.0141, il_score: 0.6343, rl_score: 0.6619, prev_frame_loss_waypoint_0: 0.2283, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.3897, grad_norm: 63.8803, il_score_sum: 62.8658, rl_score_sum: 64.5454, score_diff: -1.6796, il_win: 76.0000, rl_win: 192.9500
2025-09-24 10:11:45,282 - mmdet - INFO - Epoch [12][2980/3517]	lr: 2.828e-05, eta: 9:31:52, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1800, debug_std_frame_0: 0.2372, debug_std_frame_1: 0.2649, debug_std_frame_2: 0.3139, debug_std_frame_3: 0.3676, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4797, loss_rl: -0.2073, loss_critic: 1.4523, loss_rl_bc: 0.0096, il_score: 0.6462, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.6522, grad_norm: 42.4585, il_score_sum: 62.8658, rl_score_sum: 64.5454, score_diff: -1.6796, il_win: 76.0000, rl_win: 192.9500
2025-09-24 10:12:01,155 - mmdet - INFO - Epoch [12][3000/3517]	lr: 2.828e-05, eta: 9:31:36, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1950, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2618, debug_std_frame_2: 0.3158, debug_std_frame_3: 0.3725, debug_std_frame_4: 0.4286, debug_std_frame_5: 0.4859, loss_rl: -0.2102, loss_critic: 1.1980, loss_rl_bc: 0.0153, il_score: 0.6668, rl_score: 0.6571, prev_frame_loss_waypoint_0: 0.2270, prev_frame_loss_rl_bc_0: 0.0231, loss: 1.4753, grad_norm: 59.4203, il_score_sum: 62.8658, rl_score_sum: 64.5454, score_diff: -1.6796, il_win: 76.0000, rl_win: 192.9500
2025-09-24 10:12:17,431 - mmdet - INFO - Epoch [12][3020/3517]	lr: 2.828e-05, eta: 9:31:20, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1696, debug_std_frame_0: 0.2406, debug_std_frame_1: 0.2705, debug_std_frame_2: 0.3184, debug_std_frame_3: 0.3694, debug_std_frame_4: 0.4253, debug_std_frame_5: 0.4791, loss_rl: -0.2059, loss_critic: 1.3773, loss_rl_bc: 0.0151, il_score: 0.6205, rl_score: 0.6083, prev_frame_loss_waypoint_0: 0.1898, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.5919, grad_norm: 47.2239, il_score_sum: 62.8785, rl_score_sum: 64.5780, score_diff: -1.6995, il_win: 76.0000, rl_win: 193.7500
2025-09-24 10:12:33,422 - mmdet - INFO - Epoch [12][3040/3517]	lr: 2.828e-05, eta: 9:31:04, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1803, debug_std_frame_0: 0.2510, debug_std_frame_1: 0.2808, debug_std_frame_2: 0.3277, debug_std_frame_3: 0.3768, debug_std_frame_4: 0.4269, debug_std_frame_5: 0.4776, loss_rl: -0.2817, loss_critic: 1.7113, loss_rl_bc: 0.0123, il_score: 0.6169, rl_score: 0.6395, prev_frame_loss_waypoint_0: 0.2111, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.8745, grad_norm: 44.5592, il_score_sum: 62.8785, rl_score_sum: 64.5780, score_diff: -1.6995, il_win: 76.0000, rl_win: 193.7500
2025-09-24 10:12:49,235 - mmdet - INFO - Epoch [12][3060/3517]	lr: 2.828e-05, eta: 9:30:48, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1838, debug_std_frame_0: 0.2484, debug_std_frame_1: 0.2775, debug_std_frame_2: 0.3236, debug_std_frame_3: 0.3720, debug_std_frame_4: 0.4208, debug_std_frame_5: 0.4713, loss_rl: -0.2806, loss_critic: 1.2748, loss_rl_bc: 0.0083, il_score: 0.6702, rl_score: 0.6804, prev_frame_loss_waypoint_0: 0.2048, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.4320, grad_norm: 35.0104, il_score_sum: 62.8785, rl_score_sum: 64.5780, score_diff: -1.6995, il_win: 76.0000, rl_win: 193.7500
2025-09-24 10:13:05,189 - mmdet - INFO - Epoch [12][3080/3517]	lr: 2.828e-05, eta: 9:30:32, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1753, debug_std_frame_0: 0.2420, debug_std_frame_1: 0.2737, debug_std_frame_2: 0.3260, debug_std_frame_3: 0.3797, debug_std_frame_4: 0.4393, debug_std_frame_5: 0.4951, loss_rl: -0.2306, loss_critic: 1.2744, loss_rl_bc: 0.0098, il_score: 0.6467, rl_score: 0.6592, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0149, loss: 1.4798, grad_norm: 36.9650, il_score_sum: 62.8785, rl_score_sum: 64.5780, score_diff: -1.6995, il_win: 76.0000, rl_win: 193.7500
2025-09-24 10:13:21,091 - mmdet - INFO - Epoch [12][3100/3517]	lr: 2.828e-05, eta: 9:30:15, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1746, debug_std_frame_0: 0.2470, debug_std_frame_1: 0.2662, debug_std_frame_2: 0.3046, debug_std_frame_3: 0.3522, debug_std_frame_4: 0.3987, debug_std_frame_5: 0.4491, loss_rl: -0.2625, loss_critic: 1.4515, loss_rl_bc: 0.0066, il_score: 0.6348, rl_score: 0.6817, prev_frame_loss_waypoint_0: 0.1858, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.5918, grad_norm: 61.2337, il_score_sum: 62.8785, rl_score_sum: 64.5780, score_diff: -1.6995, il_win: 76.0000, rl_win: 193.7500
2025-09-24 10:13:37,226 - mmdet - INFO - Epoch [12][3120/3517]	lr: 2.828e-05, eta: 9:29:59, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1861, debug_std_frame_0: 0.2314, debug_std_frame_1: 0.2543, debug_std_frame_2: 0.3047, debug_std_frame_3: 0.3605, debug_std_frame_4: 0.4179, debug_std_frame_5: 0.4785, loss_rl: -0.2164, loss_critic: 1.4582, loss_rl_bc: 0.0114, il_score: 0.6301, rl_score: 0.6344, prev_frame_loss_waypoint_0: 0.2016, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.6839, grad_norm: 41.7809, il_score_sum: 62.9676, rl_score_sum: 64.6561, score_diff: -1.6885, il_win: 76.0000, rl_win: 194.5500
2025-09-24 10:13:52,885 - mmdet - INFO - Epoch [12][3140/3517]	lr: 2.828e-05, eta: 9:29:43, time: 0.783, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1742, debug_std_frame_0: 0.2293, debug_std_frame_1: 0.2536, debug_std_frame_2: 0.3036, debug_std_frame_3: 0.3554, debug_std_frame_4: 0.4089, debug_std_frame_5: 0.4658, loss_rl: -0.2523, loss_critic: 1.3363, loss_rl_bc: 0.0102, il_score: 0.6481, rl_score: 0.6510, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.4829, grad_norm: 41.9822, il_score_sum: 62.9676, rl_score_sum: 64.6561, score_diff: -1.6885, il_win: 76.0000, rl_win: 194.5500
2025-09-24 10:14:08,859 - mmdet - INFO - Epoch [12][3160/3517]	lr: 2.828e-05, eta: 9:29:27, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1971, debug_std_frame_0: 0.2302, debug_std_frame_1: 0.2590, debug_std_frame_2: 0.3070, debug_std_frame_3: 0.3577, debug_std_frame_4: 0.4133, debug_std_frame_5: 0.4680, loss_rl: -0.2301, loss_critic: 1.0485, loss_rl_bc: 0.0155, il_score: 0.6138, rl_score: 0.6664, prev_frame_loss_waypoint_0: 0.2217, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.2986, grad_norm: 51.9925, il_score_sum: 62.9676, rl_score_sum: 64.6561, score_diff: -1.6885, il_win: 76.0000, rl_win: 194.5500
2025-09-24 10:14:24,765 - mmdet - INFO - Epoch [12][3180/3517]	lr: 2.828e-05, eta: 9:29:11, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1795, debug_std_frame_0: 0.2406, debug_std_frame_1: 0.2682, debug_std_frame_2: 0.3182, debug_std_frame_3: 0.3691, debug_std_frame_4: 0.4261, debug_std_frame_5: 0.4818, loss_rl: -0.2448, loss_critic: 1.2464, loss_rl_bc: 0.0140, il_score: 0.6671, rl_score: 0.6462, prev_frame_loss_waypoint_0: 0.1945, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.4325, grad_norm: 52.7621, il_score_sum: 62.9676, rl_score_sum: 64.6561, score_diff: -1.6885, il_win: 76.0000, rl_win: 194.5500
2025-09-24 10:14:40,527 - mmdet - INFO - Epoch [12][3200/3517]	lr: 2.828e-05, eta: 9:28:54, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2063, debug_std_frame_0: 0.2590, debug_std_frame_1: 0.2932, debug_std_frame_2: 0.3509, debug_std_frame_3: 0.4068, debug_std_frame_4: 0.4691, debug_std_frame_5: 0.5261, loss_rl: -0.2098, loss_critic: 1.5317, loss_rl_bc: 0.0170, il_score: 0.5870, rl_score: 0.5971, prev_frame_loss_waypoint_0: 0.2212, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.8161, grad_norm: 50.1938, il_score_sum: 62.9676, rl_score_sum: 64.6561, score_diff: -1.6885, il_win: 76.0000, rl_win: 194.5500
2025-09-24 10:14:56,395 - mmdet - INFO - Epoch [12][3220/3517]	lr: 2.828e-05, eta: 9:28:38, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0310, loss_waypoint: 0.1862, debug_std_frame_0: 0.2549, debug_std_frame_1: 0.2831, debug_std_frame_2: 0.3332, debug_std_frame_3: 0.3846, debug_std_frame_4: 0.4406, debug_std_frame_5: 0.4941, loss_rl: -0.2621, loss_critic: 1.3694, loss_rl_bc: 0.0102, il_score: 0.6682, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.2027, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.5495, grad_norm: 53.3257, il_score_sum: 62.9359, rl_score_sum: 64.6191, score_diff: -1.6832, il_win: 76.0000, rl_win: 195.3000
2025-09-24 10:15:12,303 - mmdet - INFO - Epoch [12][3240/3517]	lr: 2.828e-05, eta: 9:28:22, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1751, debug_std_frame_0: 0.2370, debug_std_frame_1: 0.2654, debug_std_frame_2: 0.3165, debug_std_frame_3: 0.3672, debug_std_frame_4: 0.4211, debug_std_frame_5: 0.4734, loss_rl: -0.2441, loss_critic: 1.5065, loss_rl_bc: 0.0146, il_score: 0.6523, rl_score: 0.6597, prev_frame_loss_waypoint_0: 0.1996, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.6950, grad_norm: 49.3439, il_score_sum: 62.9359, rl_score_sum: 64.6191, score_diff: -1.6832, il_win: 76.0000, rl_win: 195.3000
2025-09-24 10:15:28,498 - mmdet - INFO - Epoch [12][3260/3517]	lr: 2.828e-05, eta: 9:28:06, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.2084, debug_std_frame_0: 0.2473, debug_std_frame_1: 0.2758, debug_std_frame_2: 0.3292, debug_std_frame_3: 0.3911, debug_std_frame_4: 0.4561, debug_std_frame_5: 0.5208, loss_rl: -0.2006, loss_critic: 1.4311, loss_rl_bc: 0.0133, il_score: 0.6096, rl_score: 0.6466, prev_frame_loss_waypoint_0: 0.2412, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.7373, grad_norm: 69.1490, il_score_sum: 62.9359, rl_score_sum: 64.6191, score_diff: -1.6832, il_win: 76.0000, rl_win: 195.3000
2025-09-24 10:15:44,716 - mmdet - INFO - Epoch [12][3280/3517]	lr: 2.828e-05, eta: 9:27:50, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.2179, debug_std_frame_0: 0.2323, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3077, debug_std_frame_3: 0.3629, debug_std_frame_4: 0.4204, debug_std_frame_5: 0.4767, loss_rl: -0.2409, loss_critic: 1.3021, loss_rl_bc: 0.0182, il_score: 0.6524, rl_score: 0.6541, prev_frame_loss_waypoint_0: 0.2237, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.5632, grad_norm: 68.0503, il_score_sum: 62.9359, rl_score_sum: 64.6191, score_diff: -1.6832, il_win: 76.0000, rl_win: 195.3000
2025-09-24 10:16:00,457 - mmdet - INFO - Epoch [12][3300/3517]	lr: 2.828e-05, eta: 9:27:34, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2338, debug_std_frame_0: 0.2358, debug_std_frame_1: 0.2646, debug_std_frame_2: 0.3209, debug_std_frame_3: 0.3825, debug_std_frame_4: 0.4449, debug_std_frame_5: 0.5044, loss_rl: -0.1756, loss_critic: 1.2199, loss_rl_bc: 0.0243, il_score: 0.6294, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2335, prev_frame_loss_rl_bc_0: 0.0184, loss: 1.5804, grad_norm: 66.2707, il_score_sum: 62.9359, rl_score_sum: 64.6191, score_diff: -1.6832, il_win: 76.0000, rl_win: 195.3000
2025-09-24 10:16:16,491 - mmdet - INFO - Epoch [12][3320/3517]	lr: 2.828e-05, eta: 9:27:17, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.2157, debug_std_frame_0: 0.2393, debug_std_frame_1: 0.2701, debug_std_frame_2: 0.3238, debug_std_frame_3: 0.3826, debug_std_frame_4: 0.4440, debug_std_frame_5: 0.5003, loss_rl: -0.1950, loss_critic: 1.2355, loss_rl_bc: 0.0204, il_score: 0.6373, rl_score: 0.6496, prev_frame_loss_waypoint_0: 0.2307, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.5534, grad_norm: 47.3307, il_score_sum: 62.9743, rl_score_sum: 64.5331, score_diff: -1.5588, il_win: 76.0000, rl_win: 196.0000
2025-09-24 10:16:32,440 - mmdet - INFO - Epoch [12][3340/3517]	lr: 2.828e-05, eta: 9:27:01, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1854, debug_std_frame_0: 0.2399, debug_std_frame_1: 0.2738, debug_std_frame_2: 0.3299, debug_std_frame_3: 0.3888, debug_std_frame_4: 0.4507, debug_std_frame_5: 0.5097, loss_rl: -0.2298, loss_critic: 1.2823, loss_rl_bc: 0.0111, il_score: 0.6255, rl_score: 0.6421, prev_frame_loss_waypoint_0: 0.2213, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5124, grad_norm: 51.6746, il_score_sum: 62.9743, rl_score_sum: 64.5331, score_diff: -1.5588, il_win: 76.0000, rl_win: 196.0000
2025-09-24 10:16:48,277 - mmdet - INFO - Epoch [12][3360/3517]	lr: 2.828e-05, eta: 9:26:45, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1893, debug_std_frame_0: 0.2258, debug_std_frame_1: 0.2539, debug_std_frame_2: 0.3035, debug_std_frame_3: 0.3588, debug_std_frame_4: 0.4138, debug_std_frame_5: 0.4687, loss_rl: -0.1964, loss_critic: 1.1526, loss_rl_bc: 0.0154, il_score: 0.6158, rl_score: 0.6482, prev_frame_loss_waypoint_0: 0.2025, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.4022, grad_norm: 42.8156, il_score_sum: 62.9743, rl_score_sum: 64.5331, score_diff: -1.5588, il_win: 76.0000, rl_win: 196.0000
2025-09-24 10:17:04,273 - mmdet - INFO - Epoch [12][3380/3517]	lr: 2.828e-05, eta: 9:26:29, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1799, debug_std_frame_0: 0.2265, debug_std_frame_1: 0.2567, debug_std_frame_2: 0.3107, debug_std_frame_3: 0.3689, debug_std_frame_4: 0.4269, debug_std_frame_5: 0.4879, loss_rl: -0.2481, loss_critic: 1.2526, loss_rl_bc: 0.0076, il_score: 0.6260, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.2012, prev_frame_loss_rl_bc_0: 0.0627, loss: 1.4846, grad_norm: 54.0085, il_score_sum: 62.9743, rl_score_sum: 64.5331, score_diff: -1.5588, il_win: 76.0000, rl_win: 196.0000
2025-09-24 10:17:20,141 - mmdet - INFO - Epoch [12][3400/3517]	lr: 2.828e-05, eta: 9:26:13, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1913, debug_std_frame_0: 0.2246, debug_std_frame_1: 0.2530, debug_std_frame_2: 0.3030, debug_std_frame_3: 0.3589, debug_std_frame_4: 0.4143, debug_std_frame_5: 0.4697, loss_rl: -0.2669, loss_critic: 1.1858, loss_rl_bc: 0.0099, il_score: 0.6629, rl_score: 0.6857, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3474, grad_norm: 54.3370, il_score_sum: 62.9743, rl_score_sum: 64.5331, score_diff: -1.5588, il_win: 76.0000, rl_win: 196.0000
2025-09-24 10:17:36,826 - mmdet - INFO - Epoch [12][3420/3517]	lr: 2.828e-05, eta: 9:25:57, time: 0.834, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2052, debug_std_frame_0: 0.2206, debug_std_frame_1: 0.2481, debug_std_frame_2: 0.3023, debug_std_frame_3: 0.3644, debug_std_frame_4: 0.4239, debug_std_frame_5: 0.4849, loss_rl: -0.2128, loss_critic: 1.3871, loss_rl_bc: 0.0151, il_score: 0.6125, rl_score: 0.6339, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.6567, grad_norm: 52.4537, il_score_sum: 62.9724, rl_score_sum: 64.5442, score_diff: -1.5718, il_win: 76.0000, rl_win: 196.7000
2025-09-24 10:17:53,078 - mmdet - INFO - Epoch [12][3440/3517]	lr: 2.828e-05, eta: 9:25:41, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.2106, debug_std_frame_0: 0.2359, debug_std_frame_1: 0.2686, debug_std_frame_2: 0.3212, debug_std_frame_3: 0.3863, debug_std_frame_4: 0.4507, debug_std_frame_5: 0.5142, loss_rl: -0.2316, loss_critic: 1.3117, loss_rl_bc: 0.0188, il_score: 0.6305, rl_score: 0.6528, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.5559, grad_norm: 59.3569, il_score_sum: 62.9724, rl_score_sum: 64.5442, score_diff: -1.5718, il_win: 76.0000, rl_win: 196.7000
2025-09-24 10:18:09,247 - mmdet - INFO - Epoch [12][3460/3517]	lr: 2.828e-05, eta: 9:25:25, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.2014, debug_std_frame_0: 0.2346, debug_std_frame_1: 0.2673, debug_std_frame_2: 0.3222, debug_std_frame_3: 0.3877, debug_std_frame_4: 0.4484, debug_std_frame_5: 0.5094, loss_rl: -0.2192, loss_critic: 1.5009, loss_rl_bc: 0.0172, il_score: 0.6131, rl_score: 0.6433, prev_frame_loss_waypoint_0: 0.2262, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.7693, grad_norm: 49.8159, il_score_sum: 62.9724, rl_score_sum: 64.5442, score_diff: -1.5718, il_win: 76.0000, rl_win: 196.7000
2025-09-24 10:18:25,434 - mmdet - INFO - Epoch [12][3480/3517]	lr: 2.828e-05, eta: 9:25:10, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2083, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2706, debug_std_frame_2: 0.3304, debug_std_frame_3: 0.3967, debug_std_frame_4: 0.4607, debug_std_frame_5: 0.5172, loss_rl: -0.2264, loss_critic: 1.0757, loss_rl_bc: 0.0139, il_score: 0.6492, rl_score: 0.6534, prev_frame_loss_waypoint_0: 0.2321, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.3470, grad_norm: 53.1449, il_score_sum: 62.9724, rl_score_sum: 64.5442, score_diff: -1.5718, il_win: 76.0000, rl_win: 196.7000
2025-09-24 10:18:41,821 - mmdet - INFO - Epoch [12][3500/3517]	lr: 2.828e-05, eta: 9:24:54, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1979, debug_std_frame_0: 0.2359, debug_std_frame_1: 0.2685, debug_std_frame_2: 0.3251, debug_std_frame_3: 0.3906, debug_std_frame_4: 0.4547, debug_std_frame_5: 0.5182, loss_rl: -0.1991, loss_critic: 1.3942, loss_rl_bc: 0.0174, il_score: 0.6523, rl_score: 0.6580, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.6461, grad_norm: 57.6476, il_score_sum: 62.9724, rl_score_sum: 64.5442, score_diff: -1.5718, il_win: 76.0000, rl_win: 196.7000
2025-09-24 10:18:55,419 - mmdet - INFO - Saving checkpoint at 12 epochs
2025-09-24 10:21:29,705 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 10:21:29,705 - mmdet - INFO - Epoch(val) [12][753]	plan_L2_1s: 0.3154, plan_L2_2s: 0.6152, plan_L2_3s: 1.0239, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0009, plan_obj_box_col_2s: 0.0016, plan_obj_box_col_3s: 0.0046, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.4975, plan_L2_2s_rl_actor: 0.8809, plan_L2_3s_rl_actor: 1.3445, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0001, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0056, plan_obj_box_col_2s_rl_actor: 0.0093, plan_obj_box_col_3s_rl_actor: 0.0166, fut_valid_flag_rl_actor: 1.0000
2025-09-24 10:21:53,858 - mmdet - INFO - Epoch [13][20/3517]	lr: 2.503e-05, eta: 9:24:19, time: 1.206, data_time: 0.369, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.2127, debug_std_frame_0: 0.2530, debug_std_frame_1: 0.2846, debug_std_frame_2: 0.3339, debug_std_frame_3: 0.3936, debug_std_frame_4: 0.4557, debug_std_frame_5: 0.5200, loss_rl: -0.2212, loss_critic: 1.2789, loss_rl_bc: 0.0192, il_score: 0.5845, rl_score: 0.6082, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.5466, grad_norm: 61.6400
2025-09-24 10:22:10,508 - mmdet - INFO - Epoch [13][40/3517]	lr: 2.503e-05, eta: 9:24:03, time: 0.832, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1930, debug_std_frame_0: 0.2567, debug_std_frame_1: 0.2856, debug_std_frame_2: 0.3329, debug_std_frame_3: 0.3888, debug_std_frame_4: 0.4452, debug_std_frame_5: 0.5053, loss_rl: -0.1997, loss_critic: 1.3064, loss_rl_bc: 0.0159, il_score: 0.6357, rl_score: 0.6565, prev_frame_loss_waypoint_0: 0.2127, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.5723, grad_norm: 65.5105
2025-09-24 10:22:27,350 - mmdet - INFO - Epoch [13][60/3517]	lr: 2.503e-05, eta: 9:23:48, time: 0.842, data_time: 0.014, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1828, debug_std_frame_0: 0.2587, debug_std_frame_1: 0.2835, debug_std_frame_2: 0.3311, debug_std_frame_3: 0.3849, debug_std_frame_4: 0.4378, debug_std_frame_5: 0.4975, loss_rl: -0.2211, loss_critic: 1.4273, loss_rl_bc: 0.0193, il_score: 0.6384, rl_score: 0.6395, prev_frame_loss_waypoint_0: 0.2149, prev_frame_loss_rl_bc_0: 0.0238, loss: 1.6735, grad_norm: 45.5359
2025-09-24 10:22:43,918 - mmdet - INFO - Epoch [13][80/3517]	lr: 2.503e-05, eta: 9:23:32, time: 0.828, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1753, debug_std_frame_0: 0.2735, debug_std_frame_1: 0.2982, debug_std_frame_2: 0.3400, debug_std_frame_3: 0.3907, debug_std_frame_4: 0.4410, debug_std_frame_5: 0.4952, loss_rl: -0.2408, loss_critic: 1.2153, loss_rl_bc: 0.0163, il_score: 0.6927, rl_score: 0.6432, prev_frame_loss_waypoint_0: 0.1987, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.4070, grad_norm: 54.7806
2025-09-24 10:23:00,860 - mmdet - INFO - Epoch [13][100/3517]	lr: 2.503e-05, eta: 9:23:17, time: 0.847, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1713, debug_std_frame_0: 0.2625, debug_std_frame_1: 0.2879, debug_std_frame_2: 0.3292, debug_std_frame_3: 0.3776, debug_std_frame_4: 0.4250, debug_std_frame_5: 0.4751, loss_rl: -0.2514, loss_critic: 1.4094, loss_rl_bc: 0.0112, il_score: 0.6289, rl_score: 0.6628, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.5847, grad_norm: 51.6120, il_score_sum: 63.1210, rl_score_sum: 63.2306, score_diff: -0.1096, il_win: 76.0000, rl_win: 203.0000
2025-09-24 10:23:17,413 - mmdet - INFO - Epoch [13][120/3517]	lr: 2.503e-05, eta: 9:23:02, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1878, debug_std_frame_0: 0.2714, debug_std_frame_1: 0.2960, debug_std_frame_2: 0.3389, debug_std_frame_3: 0.3878, debug_std_frame_4: 0.4362, debug_std_frame_5: 0.4923, loss_rl: -0.2271, loss_critic: 1.4161, loss_rl_bc: 0.0110, il_score: 0.6404, rl_score: 0.6443, prev_frame_loss_waypoint_0: 0.2140, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.6409, grad_norm: 50.4045, il_score_sum: 63.1210, rl_score_sum: 63.2306, score_diff: -0.1096, il_win: 76.0000, rl_win: 203.0000
2025-09-24 10:23:34,013 - mmdet - INFO - Epoch [13][140/3517]	lr: 2.503e-05, eta: 9:22:46, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1886, debug_std_frame_0: 0.2506, debug_std_frame_1: 0.2800, debug_std_frame_2: 0.3284, debug_std_frame_3: 0.3820, debug_std_frame_4: 0.4349, debug_std_frame_5: 0.4913, loss_rl: -0.2472, loss_critic: 1.1470, loss_rl_bc: 0.0152, il_score: 0.6630, rl_score: 0.6640, prev_frame_loss_waypoint_0: 0.2154, prev_frame_loss_rl_bc_0: 0.0177, loss: 1.3626, grad_norm: 37.8862, il_score_sum: 63.1210, rl_score_sum: 63.2306, score_diff: -0.1096, il_win: 76.0000, rl_win: 203.0000
2025-09-24 10:23:50,851 - mmdet - INFO - Epoch [13][160/3517]	lr: 2.503e-05, eta: 9:22:31, time: 0.842, data_time: 0.012, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1904, debug_std_frame_0: 0.2585, debug_std_frame_1: 0.2866, debug_std_frame_2: 0.3315, debug_std_frame_3: 0.3832, debug_std_frame_4: 0.4369, debug_std_frame_5: 0.4916, loss_rl: -0.2029, loss_critic: 1.3028, loss_rl_bc: 0.0157, il_score: 0.6422, rl_score: 0.6395, prev_frame_loss_waypoint_0: 0.2018, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5530, grad_norm: 55.0190, il_score_sum: 63.1210, rl_score_sum: 63.2306, score_diff: -0.1096, il_win: 76.0000, rl_win: 203.0000
2025-09-24 10:24:07,587 - mmdet - INFO - Epoch [13][180/3517]	lr: 2.503e-05, eta: 9:22:15, time: 0.837, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1819, debug_std_frame_0: 0.2553, debug_std_frame_1: 0.2800, debug_std_frame_2: 0.3235, debug_std_frame_3: 0.3761, debug_std_frame_4: 0.4290, debug_std_frame_5: 0.4840, loss_rl: -0.2553, loss_critic: 1.2941, loss_rl_bc: 0.0100, il_score: 0.6307, rl_score: 0.6719, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.4578, grad_norm: 52.2550, il_score_sum: 63.1210, rl_score_sum: 63.2306, score_diff: -0.1096, il_win: 76.0000, rl_win: 203.0000
2025-09-24 10:24:24,450 - mmdet - INFO - Epoch [13][200/3517]	lr: 2.503e-05, eta: 9:22:00, time: 0.843, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.2054, debug_std_frame_0: 0.2480, debug_std_frame_1: 0.2740, debug_std_frame_2: 0.3192, debug_std_frame_3: 0.3713, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4790, loss_rl: -0.2417, loss_critic: 1.0534, loss_rl_bc: 0.0180, il_score: 0.6348, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.2138, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.2965, grad_norm: 47.9440, il_score_sum: 63.6430, rl_score_sum: 64.5769, score_diff: -0.9339, il_win: 76.0000, rl_win: 203.5000
2025-09-24 10:24:40,896 - mmdet - INFO - Epoch [13][220/3517]	lr: 2.503e-05, eta: 9:21:44, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1968, debug_std_frame_0: 0.2460, debug_std_frame_1: 0.2726, debug_std_frame_2: 0.3179, debug_std_frame_3: 0.3685, debug_std_frame_4: 0.4200, debug_std_frame_5: 0.4720, loss_rl: -0.2783, loss_critic: 1.1676, loss_rl_bc: 0.0131, il_score: 0.6700, rl_score: 0.6834, prev_frame_loss_waypoint_0: 0.2029, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.3402, grad_norm: 54.7730, il_score_sum: 63.6430, rl_score_sum: 64.5769, score_diff: -0.9339, il_win: 76.0000, rl_win: 203.5000
2025-09-24 10:24:57,390 - mmdet - INFO - Epoch [13][240/3517]	lr: 2.503e-05, eta: 9:21:29, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1600, debug_std_frame_0: 0.2454, debug_std_frame_1: 0.2670, debug_std_frame_2: 0.3073, debug_std_frame_3: 0.3574, debug_std_frame_4: 0.4049, debug_std_frame_5: 0.4561, loss_rl: -0.2244, loss_critic: 1.6426, loss_rl_bc: 0.0076, il_score: 0.6711, rl_score: 0.6711, prev_frame_loss_waypoint_0: 0.1656, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.7848, grad_norm: 42.3047, il_score_sum: 63.6430, rl_score_sum: 64.5769, score_diff: -0.9339, il_win: 76.0000, rl_win: 203.5000
2025-09-24 10:25:14,115 - mmdet - INFO - Epoch [13][260/3517]	lr: 2.503e-05, eta: 9:21:13, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1926, debug_std_frame_0: 0.2336, debug_std_frame_1: 0.2593, debug_std_frame_2: 0.3064, debug_std_frame_3: 0.3594, debug_std_frame_4: 0.4100, debug_std_frame_5: 0.4651, loss_rl: -0.2198, loss_critic: 1.1763, loss_rl_bc: 0.0185, il_score: 0.6381, rl_score: 0.6608, prev_frame_loss_waypoint_0: 0.2039, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.4131, grad_norm: 43.7589, il_score_sum: 63.6430, rl_score_sum: 64.5769, score_diff: -0.9339, il_win: 76.0000, rl_win: 203.5000
2025-09-24 10:25:30,390 - mmdet - INFO - Epoch [13][280/3517]	lr: 2.503e-05, eta: 9:20:58, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1763, debug_std_frame_0: 0.2428, debug_std_frame_1: 0.2659, debug_std_frame_2: 0.3094, debug_std_frame_3: 0.3593, debug_std_frame_4: 0.4080, debug_std_frame_5: 0.4627, loss_rl: -0.2116, loss_critic: 1.4689, loss_rl_bc: 0.0128, il_score: 0.6582, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.6755, grad_norm: 65.7292, il_score_sum: 63.6430, rl_score_sum: 64.5769, score_diff: -0.9339, il_win: 76.0000, rl_win: 203.5000
2025-09-24 10:25:46,812 - mmdet - INFO - Epoch [13][300/3517]	lr: 2.503e-05, eta: 9:20:42, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1823, debug_std_frame_0: 0.2453, debug_std_frame_1: 0.2697, debug_std_frame_2: 0.3153, debug_std_frame_3: 0.3687, debug_std_frame_4: 0.4209, debug_std_frame_5: 0.4782, loss_rl: -0.2681, loss_critic: 1.3682, loss_rl_bc: 0.0142, il_score: 0.6435, rl_score: 0.6537, prev_frame_loss_waypoint_0: 0.2029, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.5439, grad_norm: 39.2611, il_score_sum: 64.4913, rl_score_sum: 65.3666, score_diff: -0.8753, il_win: 76.0000, rl_win: 203.6667
2025-09-24 10:26:02,926 - mmdet - INFO - Epoch [13][320/3517]	lr: 2.503e-05, eta: 9:20:26, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1906, debug_std_frame_0: 0.2460, debug_std_frame_1: 0.2707, debug_std_frame_2: 0.3140, debug_std_frame_3: 0.3657, debug_std_frame_4: 0.4148, debug_std_frame_5: 0.4675, loss_rl: -0.2539, loss_critic: 1.4450, loss_rl_bc: 0.0114, il_score: 0.6370, rl_score: 0.6663, prev_frame_loss_waypoint_0: 0.2041, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.6351, grad_norm: 70.4754, il_score_sum: 64.4913, rl_score_sum: 65.3666, score_diff: -0.8753, il_win: 76.0000, rl_win: 203.6667
2025-09-24 10:26:19,223 - mmdet - INFO - Epoch [13][340/3517]	lr: 2.503e-05, eta: 9:20:10, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.2028, debug_std_frame_0: 0.2423, debug_std_frame_1: 0.2675, debug_std_frame_2: 0.3136, debug_std_frame_3: 0.3678, debug_std_frame_4: 0.4168, debug_std_frame_5: 0.4705, loss_rl: -0.2470, loss_critic: 1.4576, loss_rl_bc: 0.0169, il_score: 0.6135, rl_score: 0.6477, prev_frame_loss_waypoint_0: 0.2043, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.6782, grad_norm: 61.0010, il_score_sum: 64.4913, rl_score_sum: 65.3666, score_diff: -0.8753, il_win: 76.0000, rl_win: 203.6667
2025-09-24 10:26:35,564 - mmdet - INFO - Epoch [13][360/3517]	lr: 2.503e-05, eta: 9:19:54, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1800, debug_std_frame_0: 0.2441, debug_std_frame_1: 0.2699, debug_std_frame_2: 0.3144, debug_std_frame_3: 0.3692, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4749, loss_rl: -0.2443, loss_critic: 1.3733, loss_rl_bc: 0.0115, il_score: 0.6495, rl_score: 0.6583, prev_frame_loss_waypoint_0: 0.1993, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.5606, grad_norm: 57.9573, il_score_sum: 64.4913, rl_score_sum: 65.3666, score_diff: -0.8753, il_win: 76.0000, rl_win: 203.6667
2025-09-24 10:26:51,791 - mmdet - INFO - Epoch [13][380/3517]	lr: 2.503e-05, eta: 9:19:38, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1738, debug_std_frame_0: 0.2339, debug_std_frame_1: 0.2583, debug_std_frame_2: 0.3009, debug_std_frame_3: 0.3517, debug_std_frame_4: 0.4023, debug_std_frame_5: 0.4556, loss_rl: -0.2996, loss_critic: 1.1527, loss_rl_bc: 0.0063, il_score: 0.6729, rl_score: 0.6901, prev_frame_loss_waypoint_0: 0.1963, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.2672, grad_norm: 49.1259, il_score_sum: 64.4913, rl_score_sum: 65.3666, score_diff: -0.8753, il_win: 76.0000, rl_win: 203.6667
2025-09-24 10:27:08,458 - mmdet - INFO - Epoch [13][400/3517]	lr: 2.503e-05, eta: 9:19:23, time: 0.834, data_time: 0.012, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.2025, debug_std_frame_0: 0.2413, debug_std_frame_1: 0.2718, debug_std_frame_2: 0.3251, debug_std_frame_3: 0.3862, debug_std_frame_4: 0.4463, debug_std_frame_5: 0.5055, loss_rl: -0.2030, loss_critic: 1.0349, loss_rl_bc: 0.0168, il_score: 0.6440, rl_score: 0.6677, prev_frame_loss_waypoint_0: 0.1958, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.2921, grad_norm: 53.0739, il_score_sum: 64.3918, rl_score_sum: 65.5716, score_diff: -1.1798, il_win: 76.0000, rl_win: 204.0000
2025-09-24 10:27:24,645 - mmdet - INFO - Epoch [13][420/3517]	lr: 2.503e-05, eta: 9:19:07, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1960, debug_std_frame_0: 0.2367, debug_std_frame_1: 0.2622, debug_std_frame_2: 0.3120, debug_std_frame_3: 0.3735, debug_std_frame_4: 0.4311, debug_std_frame_5: 0.4938, loss_rl: -0.2044, loss_critic: 1.5536, loss_rl_bc: 0.0135, il_score: 0.6443, rl_score: 0.6401, prev_frame_loss_waypoint_0: 0.1964, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.7938, grad_norm: 52.4414, il_score_sum: 64.3918, rl_score_sum: 65.5716, score_diff: -1.1798, il_win: 76.0000, rl_win: 204.0000
2025-09-24 10:27:40,887 - mmdet - INFO - Epoch [13][440/3517]	lr: 2.503e-05, eta: 9:18:51, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.2062, debug_std_frame_0: 0.2308, debug_std_frame_1: 0.2550, debug_std_frame_2: 0.3012, debug_std_frame_3: 0.3600, debug_std_frame_4: 0.4190, debug_std_frame_5: 0.4750, loss_rl: -0.1939, loss_critic: 1.1871, loss_rl_bc: 0.0146, il_score: 0.5925, rl_score: 0.6517, prev_frame_loss_waypoint_0: 0.2134, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.4674, grad_norm: 60.5567, il_score_sum: 64.3918, rl_score_sum: 65.5716, score_diff: -1.1798, il_win: 76.0000, rl_win: 204.0000
2025-09-24 10:27:57,349 - mmdet - INFO - Epoch [13][460/3517]	lr: 2.503e-05, eta: 9:18:35, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1830, debug_std_frame_0: 0.2269, debug_std_frame_1: 0.2547, debug_std_frame_2: 0.3041, debug_std_frame_3: 0.3626, debug_std_frame_4: 0.4220, debug_std_frame_5: 0.4796, loss_rl: -0.2290, loss_critic: 1.4842, loss_rl_bc: 0.0124, il_score: 0.6481, rl_score: 0.6434, prev_frame_loss_waypoint_0: 0.2002, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.6906, grad_norm: 59.0830, il_score_sum: 64.3918, rl_score_sum: 65.5716, score_diff: -1.1798, il_win: 76.0000, rl_win: 204.0000
2025-09-24 10:28:13,592 - mmdet - INFO - Epoch [13][480/3517]	lr: 2.503e-05, eta: 9:18:20, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1966, debug_std_frame_0: 0.2357, debug_std_frame_1: 0.2676, debug_std_frame_2: 0.3198, debug_std_frame_3: 0.3804, debug_std_frame_4: 0.4420, debug_std_frame_5: 0.5059, loss_rl: -0.2191, loss_critic: 1.4077, loss_rl_bc: 0.0177, il_score: 0.6600, rl_score: 0.6446, prev_frame_loss_waypoint_0: 0.2246, prev_frame_loss_rl_bc_0: 0.0254, loss: 1.6813, grad_norm: 56.9355, il_score_sum: 64.3918, rl_score_sum: 65.5716, score_diff: -1.1798, il_win: 76.0000, rl_win: 204.0000
2025-09-24 10:28:30,420 - mmdet - INFO - Epoch [13][500/3517]	lr: 2.503e-05, eta: 9:18:04, time: 0.842, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1903, debug_std_frame_0: 0.2315, debug_std_frame_1: 0.2634, debug_std_frame_2: 0.3177, debug_std_frame_3: 0.3754, debug_std_frame_4: 0.4360, debug_std_frame_5: 0.4977, loss_rl: -0.2220, loss_critic: 1.2455, loss_rl_bc: 0.0131, il_score: 0.6697, rl_score: 0.6674, prev_frame_loss_waypoint_0: 0.1999, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.4721, grad_norm: 49.2869, il_score_sum: 64.3009, rl_score_sum: 65.4304, score_diff: -1.1295, il_win: 76.0000, rl_win: 204.2000
2025-09-24 10:28:46,763 - mmdet - INFO - Epoch [13][520/3517]	lr: 2.503e-05, eta: 9:17:48, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1879, debug_std_frame_0: 0.2464, debug_std_frame_1: 0.2775, debug_std_frame_2: 0.3256, debug_std_frame_3: 0.3822, debug_std_frame_4: 0.4366, debug_std_frame_5: 0.4931, loss_rl: -0.2215, loss_critic: 1.4395, loss_rl_bc: 0.0217, il_score: 0.6443, rl_score: 0.6401, prev_frame_loss_waypoint_0: 0.2055, prev_frame_loss_rl_bc_0: 0.0241, loss: 1.6819, grad_norm: 52.7106, il_score_sum: 64.3009, rl_score_sum: 65.4304, score_diff: -1.1295, il_win: 76.0000, rl_win: 204.2000
2025-09-24 10:29:02,985 - mmdet - INFO - Epoch [13][540/3517]	lr: 2.503e-05, eta: 9:17:33, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2007, debug_std_frame_0: 0.2548, debug_std_frame_1: 0.2904, debug_std_frame_2: 0.3470, debug_std_frame_3: 0.4073, debug_std_frame_4: 0.4680, debug_std_frame_5: 0.5263, loss_rl: -0.1918, loss_critic: 1.2349, loss_rl_bc: 0.0179, il_score: 0.6441, rl_score: 0.6294, prev_frame_loss_waypoint_0: 0.2055, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5145, grad_norm: 58.0584, il_score_sum: 64.3009, rl_score_sum: 65.4304, score_diff: -1.1295, il_win: 76.0000, rl_win: 204.2000
2025-09-24 10:29:19,128 - mmdet - INFO - Epoch [13][560/3517]	lr: 2.503e-05, eta: 9:17:17, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2057, debug_std_frame_0: 0.2534, debug_std_frame_1: 0.2909, debug_std_frame_2: 0.3474, debug_std_frame_3: 0.4093, debug_std_frame_4: 0.4701, debug_std_frame_5: 0.5264, loss_rl: -0.2963, loss_critic: 1.2181, loss_rl_bc: 0.0168, il_score: 0.6069, rl_score: 0.6520, prev_frame_loss_waypoint_0: 0.2234, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.4113, grad_norm: 59.6445, il_score_sum: 64.3009, rl_score_sum: 65.4304, score_diff: -1.1295, il_win: 76.0000, rl_win: 204.2000
2025-09-24 10:29:35,406 - mmdet - INFO - Epoch [13][580/3517]	lr: 2.503e-05, eta: 9:17:01, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1705, debug_std_frame_0: 0.2434, debug_std_frame_1: 0.2787, debug_std_frame_2: 0.3328, debug_std_frame_3: 0.3920, debug_std_frame_4: 0.4509, debug_std_frame_5: 0.5066, loss_rl: -0.2971, loss_critic: 1.5530, loss_rl_bc: 0.0088, il_score: 0.6572, rl_score: 0.6652, prev_frame_loss_waypoint_0: 0.1957, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6699, grad_norm: 53.2997, il_score_sum: 64.3009, rl_score_sum: 65.4304, score_diff: -1.1295, il_win: 76.0000, rl_win: 204.2000
2025-09-24 10:29:52,043 - mmdet - INFO - Epoch [13][600/3517]	lr: 2.503e-05, eta: 9:16:45, time: 0.832, data_time: 0.012, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1983, debug_std_frame_0: 0.2387, debug_std_frame_1: 0.2713, debug_std_frame_2: 0.3258, debug_std_frame_3: 0.3866, debug_std_frame_4: 0.4441, debug_std_frame_5: 0.5028, loss_rl: -0.2435, loss_critic: 1.3932, loss_rl_bc: 0.0152, il_score: 0.6452, rl_score: 0.6630, prev_frame_loss_waypoint_0: 0.2182, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.6303, grad_norm: 59.4183, il_score_sum: 64.3173, rl_score_sum: 65.3839, score_diff: -1.0666, il_win: 76.0000, rl_win: 204.3333
2025-09-24 10:30:08,292 - mmdet - INFO - Epoch [13][620/3517]	lr: 2.503e-05, eta: 9:16:29, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2012, debug_std_frame_0: 0.2398, debug_std_frame_1: 0.2730, debug_std_frame_2: 0.3339, debug_std_frame_3: 0.3985, debug_std_frame_4: 0.4598, debug_std_frame_5: 0.5214, loss_rl: -0.2296, loss_critic: 1.7643, loss_rl_bc: 0.0209, il_score: 0.6071, rl_score: 0.5944, prev_frame_loss_waypoint_0: 0.1981, prev_frame_loss_rl_bc_0: 0.0181, loss: 2.0004, grad_norm: 48.1189, il_score_sum: 64.3173, rl_score_sum: 65.3839, score_diff: -1.0666, il_win: 76.0000, rl_win: 204.3333
2025-09-24 10:30:24,531 - mmdet - INFO - Epoch [13][640/3517]	lr: 2.503e-05, eta: 9:16:14, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1815, debug_std_frame_0: 0.2516, debug_std_frame_1: 0.2846, debug_std_frame_2: 0.3386, debug_std_frame_3: 0.3995, debug_std_frame_4: 0.4607, debug_std_frame_5: 0.5199, loss_rl: -0.2427, loss_critic: 1.1844, loss_rl_bc: 0.0169, il_score: 0.6731, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.3908, grad_norm: 46.2501, il_score_sum: 64.3173, rl_score_sum: 65.3839, score_diff: -1.0666, il_win: 76.0000, rl_win: 204.3333
2025-09-24 10:30:41,289 - mmdet - INFO - Epoch [13][660/3517]	lr: 2.503e-05, eta: 9:15:58, time: 0.838, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1796, debug_std_frame_0: 0.2378, debug_std_frame_1: 0.2702, debug_std_frame_2: 0.3226, debug_std_frame_3: 0.3785, debug_std_frame_4: 0.4333, debug_std_frame_5: 0.4879, loss_rl: -0.2430, loss_critic: 1.4536, loss_rl_bc: 0.0131, il_score: 0.6267, rl_score: 0.6526, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6354, grad_norm: 42.4166, il_score_sum: 64.3173, rl_score_sum: 65.3839, score_diff: -1.0666, il_win: 76.0000, rl_win: 204.3333
2025-09-24 10:30:57,543 - mmdet - INFO - Epoch [13][680/3517]	lr: 2.503e-05, eta: 9:15:42, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1762, debug_std_frame_0: 0.2404, debug_std_frame_1: 0.2720, debug_std_frame_2: 0.3219, debug_std_frame_3: 0.3774, debug_std_frame_4: 0.4280, debug_std_frame_5: 0.4828, loss_rl: -0.2498, loss_critic: 1.7934, loss_rl_bc: 0.0106, il_score: 0.6572, rl_score: 0.6549, prev_frame_loss_waypoint_0: 0.1913, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.9687, grad_norm: 55.6065, il_score_sum: 64.3173, rl_score_sum: 65.3839, score_diff: -1.0666, il_win: 76.0000, rl_win: 204.3333
2025-09-24 10:31:14,125 - mmdet - INFO - Epoch [13][700/3517]	lr: 2.503e-05, eta: 9:15:27, time: 0.829, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1760, debug_std_frame_0: 0.2353, debug_std_frame_1: 0.2661, debug_std_frame_2: 0.3171, debug_std_frame_3: 0.3776, debug_std_frame_4: 0.4330, debug_std_frame_5: 0.4878, loss_rl: -0.2231, loss_critic: 1.2778, loss_rl_bc: 0.0094, il_score: 0.6353, rl_score: 0.6612, prev_frame_loss_waypoint_0: 0.2039, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.4855, grad_norm: 41.7064, il_score_sum: 64.2338, rl_score_sum: 65.2761, score_diff: -1.0423, il_win: 76.0000, rl_win: 204.4286
2025-09-24 10:31:30,329 - mmdet - INFO - Epoch [13][720/3517]	lr: 2.503e-05, eta: 9:15:11, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1848, debug_std_frame_0: 0.2412, debug_std_frame_1: 0.2725, debug_std_frame_2: 0.3194, debug_std_frame_3: 0.3742, debug_std_frame_4: 0.4272, debug_std_frame_5: 0.4845, loss_rl: -0.2608, loss_critic: 1.3895, loss_rl_bc: 0.0120, il_score: 0.6471, rl_score: 0.6548, prev_frame_loss_waypoint_0: 0.2115, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.5816, grad_norm: 49.1034, il_score_sum: 64.2338, rl_score_sum: 65.2761, score_diff: -1.0423, il_win: 76.0000, rl_win: 204.4286
2025-09-24 10:31:46,279 - mmdet - INFO - Epoch [13][740/3517]	lr: 2.503e-05, eta: 9:14:55, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1744, debug_std_frame_0: 0.2318, debug_std_frame_1: 0.2602, debug_std_frame_2: 0.3071, debug_std_frame_3: 0.3625, debug_std_frame_4: 0.4144, debug_std_frame_5: 0.4685, loss_rl: -0.2899, loss_critic: 1.3539, loss_rl_bc: 0.0147, il_score: 0.6582, rl_score: 0.6597, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.4764, grad_norm: 45.9660, il_score_sum: 64.2338, rl_score_sum: 65.2761, score_diff: -1.0423, il_win: 76.0000, rl_win: 204.4286
2025-09-24 10:32:02,557 - mmdet - INFO - Epoch [13][760/3517]	lr: 2.503e-05, eta: 9:14:39, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.2099, debug_std_frame_0: 0.2353, debug_std_frame_1: 0.2657, debug_std_frame_2: 0.3131, debug_std_frame_3: 0.3672, debug_std_frame_4: 0.4208, debug_std_frame_5: 0.4739, loss_rl: -0.2316, loss_critic: 1.2528, loss_rl_bc: 0.0127, il_score: 0.6348, rl_score: 0.6671, prev_frame_loss_waypoint_0: 0.2334, prev_frame_loss_rl_bc_0: 0.0211, loss: 1.5238, grad_norm: 68.1903, il_score_sum: 64.2338, rl_score_sum: 65.2761, score_diff: -1.0423, il_win: 76.0000, rl_win: 204.4286
2025-09-24 10:32:18,945 - mmdet - INFO - Epoch [13][780/3517]	lr: 2.503e-05, eta: 9:14:23, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1952, debug_std_frame_0: 0.2280, debug_std_frame_1: 0.2578, debug_std_frame_2: 0.3080, debug_std_frame_3: 0.3632, debug_std_frame_4: 0.4155, debug_std_frame_5: 0.4691, loss_rl: -0.2815, loss_critic: 1.2695, loss_rl_bc: 0.0164, il_score: 0.6707, rl_score: 0.6774, prev_frame_loss_waypoint_0: 0.1984, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.4357, grad_norm: 51.1200, il_score_sum: 64.2338, rl_score_sum: 65.2761, score_diff: -1.0423, il_win: 76.0000, rl_win: 204.4286
2025-09-24 10:32:35,535 - mmdet - INFO - Epoch [13][800/3517]	lr: 2.503e-05, eta: 9:14:07, time: 0.830, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2163, debug_std_frame_0: 0.2387, debug_std_frame_1: 0.2729, debug_std_frame_2: 0.3296, debug_std_frame_3: 0.3902, debug_std_frame_4: 0.4495, debug_std_frame_5: 0.5078, loss_rl: -0.2175, loss_critic: 1.2486, loss_rl_bc: 0.0201, il_score: 0.6354, rl_score: 0.6263, prev_frame_loss_waypoint_0: 0.2230, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.5362, grad_norm: 58.1944, il_score_sum: 64.3729, rl_score_sum: 65.3499, score_diff: -0.9769, il_win: 76.0000, rl_win: 204.5000
2025-09-24 10:32:51,728 - mmdet - INFO - Epoch [13][820/3517]	lr: 2.503e-05, eta: 9:13:52, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1833, debug_std_frame_0: 0.2498, debug_std_frame_1: 0.2819, debug_std_frame_2: 0.3344, debug_std_frame_3: 0.3934, debug_std_frame_4: 0.4518, debug_std_frame_5: 0.5099, loss_rl: -0.1880, loss_critic: 1.5885, loss_rl_bc: 0.0139, il_score: 0.6171, rl_score: 0.6273, prev_frame_loss_waypoint_0: 0.2011, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.8447, grad_norm: 63.8539, il_score_sum: 64.3729, rl_score_sum: 65.3499, score_diff: -0.9769, il_win: 76.0000, rl_win: 204.5000
2025-09-24 10:33:08,064 - mmdet - INFO - Epoch [13][840/3517]	lr: 2.503e-05, eta: 9:13:36, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2008, debug_std_frame_0: 0.2376, debug_std_frame_1: 0.2683, debug_std_frame_2: 0.3214, debug_std_frame_3: 0.3797, debug_std_frame_4: 0.4382, debug_std_frame_5: 0.4975, loss_rl: -0.2080, loss_critic: 1.3304, loss_rl_bc: 0.0153, il_score: 0.5973, rl_score: 0.6542, prev_frame_loss_waypoint_0: 0.2240, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.6077, grad_norm: 57.2020, il_score_sum: 64.3729, rl_score_sum: 65.3499, score_diff: -0.9769, il_win: 76.0000, rl_win: 204.5000
2025-09-24 10:33:24,403 - mmdet - INFO - Epoch [13][860/3517]	lr: 2.503e-05, eta: 9:13:20, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1954, debug_std_frame_0: 0.2438, debug_std_frame_1: 0.2755, debug_std_frame_2: 0.3284, debug_std_frame_3: 0.3820, debug_std_frame_4: 0.4384, debug_std_frame_5: 0.4995, loss_rl: -0.1892, loss_critic: 1.2573, loss_rl_bc: 0.0148, il_score: 0.6447, rl_score: 0.6338, prev_frame_loss_waypoint_0: 0.2133, prev_frame_loss_rl_bc_0: 0.0211, loss: 1.5395, grad_norm: 64.4706, il_score_sum: 64.3729, rl_score_sum: 65.3499, score_diff: -0.9769, il_win: 76.0000, rl_win: 204.5000
2025-09-24 10:33:40,551 - mmdet - INFO - Epoch [13][880/3517]	lr: 2.503e-05, eta: 9:13:04, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1931, debug_std_frame_0: 0.2372, debug_std_frame_1: 0.2695, debug_std_frame_2: 0.3218, debug_std_frame_3: 0.3792, debug_std_frame_4: 0.4335, debug_std_frame_5: 0.4919, loss_rl: -0.2307, loss_critic: 1.2340, loss_rl_bc: 0.0145, il_score: 0.6251, rl_score: 0.6513, prev_frame_loss_waypoint_0: 0.1929, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.4420, grad_norm: 38.6509, il_score_sum: 64.3729, rl_score_sum: 65.3499, score_diff: -0.9769, il_win: 76.0000, rl_win: 204.5000
2025-09-24 10:33:57,062 - mmdet - INFO - Epoch [13][900/3517]	lr: 2.503e-05, eta: 9:12:48, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1866, debug_std_frame_0: 0.2388, debug_std_frame_1: 0.2638, debug_std_frame_2: 0.3081, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4050, debug_std_frame_5: 0.4588, loss_rl: -0.2300, loss_critic: 1.3446, loss_rl_bc: 0.0113, il_score: 0.6562, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.5447, grad_norm: 58.0744, il_score_sum: 64.1655, rl_score_sum: 65.2694, score_diff: -1.1039, il_win: 76.0000, rl_win: 204.6667
2025-09-24 10:34:13,036 - mmdet - INFO - Epoch [13][920/3517]	lr: 2.503e-05, eta: 9:12:32, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1700, debug_std_frame_0: 0.2274, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.2926, debug_std_frame_3: 0.3431, debug_std_frame_4: 0.3933, debug_std_frame_5: 0.4505, loss_rl: -0.2799, loss_critic: 1.4694, loss_rl_bc: 0.0081, il_score: 0.6539, rl_score: 0.6907, prev_frame_loss_waypoint_0: 0.1781, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.5786, grad_norm: 39.3973, il_score_sum: 64.1655, rl_score_sum: 65.2694, score_diff: -1.1039, il_win: 76.0000, rl_win: 204.6667
2025-09-24 10:34:29,093 - mmdet - INFO - Epoch [13][940/3517]	lr: 2.503e-05, eta: 9:12:16, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.2028, debug_std_frame_0: 0.2256, debug_std_frame_1: 0.2493, debug_std_frame_2: 0.2966, debug_std_frame_3: 0.3553, debug_std_frame_4: 0.4143, debug_std_frame_5: 0.4751, loss_rl: -0.2284, loss_critic: 1.1502, loss_rl_bc: 0.0159, il_score: 0.6170, rl_score: 0.6439, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.3867, grad_norm: 44.7032, il_score_sum: 64.1655, rl_score_sum: 65.2694, score_diff: -1.1039, il_win: 76.0000, rl_win: 204.6667
2025-09-24 10:34:45,180 - mmdet - INFO - Epoch [13][960/3517]	lr: 2.503e-05, eta: 9:12:00, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1843, debug_std_frame_0: 0.2248, debug_std_frame_1: 0.2518, debug_std_frame_2: 0.2995, debug_std_frame_3: 0.3589, debug_std_frame_4: 0.4148, debug_std_frame_5: 0.4724, loss_rl: -0.2379, loss_critic: 1.0978, loss_rl_bc: 0.0113, il_score: 0.6673, rl_score: 0.6695, prev_frame_loss_waypoint_0: 0.2028, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.3018, grad_norm: 39.9509, il_score_sum: 64.1655, rl_score_sum: 65.2694, score_diff: -1.1039, il_win: 76.0000, rl_win: 204.6667
2025-09-24 10:35:01,453 - mmdet - INFO - Epoch [13][980/3517]	lr: 2.503e-05, eta: 9:11:44, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1682, debug_std_frame_0: 0.2273, debug_std_frame_1: 0.2548, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3623, debug_std_frame_4: 0.4203, debug_std_frame_5: 0.4790, loss_rl: -0.2128, loss_critic: 1.2707, loss_rl_bc: 0.0104, il_score: 0.6509, rl_score: 0.6430, prev_frame_loss_waypoint_0: 0.1907, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.4674, grad_norm: 40.1729, il_score_sum: 64.1655, rl_score_sum: 65.2694, score_diff: -1.1039, il_win: 76.0000, rl_win: 204.6667
2025-09-24 10:35:17,870 - mmdet - INFO - Epoch [13][1000/3517]	lr: 2.503e-05, eta: 9:11:29, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.2039, debug_std_frame_0: 0.2281, debug_std_frame_1: 0.2573, debug_std_frame_2: 0.3053, debug_std_frame_3: 0.3672, debug_std_frame_4: 0.4291, debug_std_frame_5: 0.4885, loss_rl: -0.2358, loss_critic: 1.5695, loss_rl_bc: 0.0171, il_score: 0.5912, rl_score: 0.6260, prev_frame_loss_waypoint_0: 0.2269, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.8235, grad_norm: 49.3286, il_score_sum: 64.1436, rl_score_sum: 65.3075, score_diff: -1.1639, il_win: 76.0000, rl_win: 204.9000
2025-09-24 10:35:34,093 - mmdet - INFO - Epoch [13][1020/3517]	lr: 2.503e-05, eta: 9:11:13, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1730, debug_std_frame_0: 0.2290, debug_std_frame_1: 0.2578, debug_std_frame_2: 0.3085, debug_std_frame_3: 0.3693, debug_std_frame_4: 0.4290, debug_std_frame_5: 0.4888, loss_rl: -0.2517, loss_critic: 1.2460, loss_rl_bc: 0.0107, il_score: 0.6590, rl_score: 0.6559, prev_frame_loss_waypoint_0: 0.1997, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.4161, grad_norm: 45.9917, il_score_sum: 64.1436, rl_score_sum: 65.3075, score_diff: -1.1639, il_win: 76.0000, rl_win: 204.9000
2025-09-24 10:35:50,340 - mmdet - INFO - Epoch [13][1040/3517]	lr: 2.503e-05, eta: 9:10:57, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1852, debug_std_frame_0: 0.2284, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3062, debug_std_frame_3: 0.3660, debug_std_frame_4: 0.4235, debug_std_frame_5: 0.4881, loss_rl: -0.2424, loss_critic: 1.1136, loss_rl_bc: 0.0109, il_score: 0.6692, rl_score: 0.6723, prev_frame_loss_waypoint_0: 0.1931, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.2983, grad_norm: 46.4413, il_score_sum: 64.1436, rl_score_sum: 65.3075, score_diff: -1.1639, il_win: 76.0000, rl_win: 204.9000
2025-09-24 10:36:06,716 - mmdet - INFO - Epoch [13][1060/3517]	lr: 2.503e-05, eta: 9:10:41, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1924, debug_std_frame_0: 0.2253, debug_std_frame_1: 0.2527, debug_std_frame_2: 0.2994, debug_std_frame_3: 0.3558, debug_std_frame_4: 0.4100, debug_std_frame_5: 0.4677, loss_rl: -0.2770, loss_critic: 1.1376, loss_rl_bc: 0.0084, il_score: 0.6519, rl_score: 0.6860, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.2876, grad_norm: 62.0592, il_score_sum: 64.1436, rl_score_sum: 65.3075, score_diff: -1.1639, il_win: 76.0000, rl_win: 204.9000
2025-09-24 10:36:23,033 - mmdet - INFO - Epoch [13][1080/3517]	lr: 2.503e-05, eta: 9:10:25, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1803, debug_std_frame_0: 0.2194, debug_std_frame_1: 0.2497, debug_std_frame_2: 0.3050, debug_std_frame_3: 0.3681, debug_std_frame_4: 0.4275, debug_std_frame_5: 0.4856, loss_rl: -0.2205, loss_critic: 1.1544, loss_rl_bc: 0.0087, il_score: 0.6313, rl_score: 0.6700, prev_frame_loss_waypoint_0: 0.2200, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.3865, grad_norm: 58.1140, il_score_sum: 64.1436, rl_score_sum: 65.3075, score_diff: -1.1639, il_win: 76.0000, rl_win: 204.9000
2025-09-24 10:36:39,640 - mmdet - INFO - Epoch [13][1100/3517]	lr: 2.503e-05, eta: 9:10:10, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.2095, debug_std_frame_0: 0.2281, debug_std_frame_1: 0.2553, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3644, debug_std_frame_4: 0.4205, debug_std_frame_5: 0.4784, loss_rl: -0.2537, loss_critic: 1.3895, loss_rl_bc: 0.0133, il_score: 0.6530, rl_score: 0.6910, prev_frame_loss_waypoint_0: 0.2208, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.6192, grad_norm: 57.9667, il_score_sum: 64.2161, rl_score_sum: 65.4740, score_diff: -1.2578, il_win: 76.0000, rl_win: 205.1818
2025-09-24 10:36:55,921 - mmdet - INFO - Epoch [13][1120/3517]	lr: 2.503e-05, eta: 9:09:54, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1757, debug_std_frame_0: 0.2215, debug_std_frame_1: 0.2451, debug_std_frame_2: 0.2923, debug_std_frame_3: 0.3543, debug_std_frame_4: 0.4085, debug_std_frame_5: 0.4653, loss_rl: -0.2528, loss_critic: 1.3320, loss_rl_bc: 0.0091, il_score: 0.6709, rl_score: 0.6845, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.4840, grad_norm: 48.3763, il_score_sum: 64.2161, rl_score_sum: 65.4740, score_diff: -1.2578, il_win: 76.0000, rl_win: 205.1818
2025-09-24 10:37:12,672 - mmdet - INFO - Epoch [13][1140/3517]	lr: 2.503e-05, eta: 9:09:38, time: 0.837, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1786, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2877, debug_std_frame_3: 0.3516, debug_std_frame_4: 0.4101, debug_std_frame_5: 0.4722, loss_rl: -0.2414, loss_critic: 1.2960, loss_rl_bc: 0.0099, il_score: 0.6399, rl_score: 0.6553, prev_frame_loss_waypoint_0: 0.1973, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.4802, grad_norm: 46.4139, il_score_sum: 64.2161, rl_score_sum: 65.4740, score_diff: -1.2578, il_win: 76.0000, rl_win: 205.1818
2025-09-24 10:37:29,241 - mmdet - INFO - Epoch [13][1160/3517]	lr: 2.503e-05, eta: 9:09:23, time: 0.829, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1798, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2305, debug_std_frame_2: 0.2791, debug_std_frame_3: 0.3404, debug_std_frame_4: 0.3957, debug_std_frame_5: 0.4521, loss_rl: -0.2641, loss_critic: 1.1650, loss_rl_bc: 0.0073, il_score: 0.6304, rl_score: 0.6740, prev_frame_loss_waypoint_0: 0.2121, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.3391, grad_norm: 46.7008, il_score_sum: 64.2161, rl_score_sum: 65.4740, score_diff: -1.2578, il_win: 76.0000, rl_win: 205.1818
2025-09-24 10:37:45,498 - mmdet - INFO - Epoch [13][1180/3517]	lr: 2.503e-05, eta: 9:09:07, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1975, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2382, debug_std_frame_2: 0.2912, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4067, debug_std_frame_5: 0.4634, loss_rl: -0.2499, loss_critic: 1.3977, loss_rl_bc: 0.0088, il_score: 0.6235, rl_score: 0.6667, prev_frame_loss_waypoint_0: 0.2153, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.6123, grad_norm: 68.2287, il_score_sum: 64.2161, rl_score_sum: 65.4740, score_diff: -1.2578, il_win: 76.0000, rl_win: 205.1818
2025-09-24 10:38:02,137 - mmdet - INFO - Epoch [13][1200/3517]	lr: 2.503e-05, eta: 9:08:51, time: 0.832, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.2245, debug_std_frame_0: 0.2306, debug_std_frame_1: 0.2581, debug_std_frame_2: 0.3052, debug_std_frame_3: 0.3616, debug_std_frame_4: 0.4164, debug_std_frame_5: 0.4717, loss_rl: -0.2239, loss_critic: 1.3699, loss_rl_bc: 0.0145, il_score: 0.6155, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.2311, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.6593, grad_norm: 70.3416, il_score_sum: 64.1795, rl_score_sum: 65.6274, score_diff: -1.4479, il_win: 76.0000, rl_win: 205.5000
2025-09-24 10:38:18,312 - mmdet - INFO - Epoch [13][1220/3517]	lr: 2.503e-05, eta: 9:08:35, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1833, debug_std_frame_0: 0.2231, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.3024, debug_std_frame_3: 0.3628, debug_std_frame_4: 0.4211, debug_std_frame_5: 0.4859, loss_rl: -0.2182, loss_critic: 1.2339, loss_rl_bc: 0.0201, il_score: 0.6863, rl_score: 0.6616, prev_frame_loss_waypoint_0: 0.2024, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.4706, grad_norm: 61.4024, il_score_sum: 64.1795, rl_score_sum: 65.6274, score_diff: -1.4479, il_win: 76.0000, rl_win: 205.5000
2025-09-24 10:38:34,710 - mmdet - INFO - Epoch [13][1240/3517]	lr: 2.503e-05, eta: 9:08:20, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1872, debug_std_frame_0: 0.2413, debug_std_frame_1: 0.2783, debug_std_frame_2: 0.3356, debug_std_frame_3: 0.3961, debug_std_frame_4: 0.4588, debug_std_frame_5: 0.5246, loss_rl: -0.2412, loss_critic: 1.3715, loss_rl_bc: 0.0134, il_score: 0.6247, rl_score: 0.6400, prev_frame_loss_waypoint_0: 0.2220, prev_frame_loss_rl_bc_0: 0.0180, loss: 1.5993, grad_norm: 59.8070, il_score_sum: 64.1795, rl_score_sum: 65.6274, score_diff: -1.4479, il_win: 76.0000, rl_win: 205.5000
2025-09-24 10:38:50,899 - mmdet - INFO - Epoch [13][1260/3517]	lr: 2.503e-05, eta: 9:08:04, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.2183, debug_std_frame_0: 0.2385, debug_std_frame_1: 0.2701, debug_std_frame_2: 0.3202, debug_std_frame_3: 0.3763, debug_std_frame_4: 0.4318, debug_std_frame_5: 0.4880, loss_rl: -0.2541, loss_critic: 1.5665, loss_rl_bc: 0.0180, il_score: 0.6208, rl_score: 0.6536, prev_frame_loss_waypoint_0: 0.2112, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.8016, grad_norm: 58.0482, il_score_sum: 64.1795, rl_score_sum: 65.6274, score_diff: -1.4479, il_win: 76.0000, rl_win: 205.5000
2025-09-24 10:39:07,061 - mmdet - INFO - Epoch [13][1280/3517]	lr: 2.503e-05, eta: 9:07:48, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0317, loss_waypoint: 0.1814, debug_std_frame_0: 0.2278, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3098, debug_std_frame_3: 0.3660, debug_std_frame_4: 0.4203, debug_std_frame_5: 0.4795, loss_rl: -0.2748, loss_critic: 1.5131, loss_rl_bc: 0.0117, il_score: 0.6417, rl_score: 0.6575, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.6753, grad_norm: 42.6346, il_score_sum: 64.1795, rl_score_sum: 65.6274, score_diff: -1.4479, il_win: 76.0000, rl_win: 205.5000
2025-09-24 10:39:23,598 - mmdet - INFO - Epoch [13][1300/3517]	lr: 2.503e-05, eta: 9:07:32, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0299, loss_waypoint: 0.2079, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2671, debug_std_frame_2: 0.3277, debug_std_frame_3: 0.3903, debug_std_frame_4: 0.4501, debug_std_frame_5: 0.5133, loss_rl: -0.2063, loss_critic: 1.3388, loss_rl_bc: 0.0169, il_score: 0.6146, rl_score: 0.6347, prev_frame_loss_waypoint_0: 0.2223, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.6293, grad_norm: 63.1047, il_score_sum: 64.1484, rl_score_sum: 65.5659, score_diff: -1.4175, il_win: 76.0000, rl_win: 205.8462
2025-09-24 10:39:39,798 - mmdet - INFO - Epoch [13][1320/3517]	lr: 2.503e-05, eta: 9:07:16, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1975, debug_std_frame_0: 0.2256, debug_std_frame_1: 0.2656, debug_std_frame_2: 0.3254, debug_std_frame_3: 0.3908, debug_std_frame_4: 0.4523, debug_std_frame_5: 0.5172, loss_rl: -0.2538, loss_critic: 1.1811, loss_rl_bc: 0.0132, il_score: 0.6448, rl_score: 0.6679, prev_frame_loss_waypoint_0: 0.2232, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.4041, grad_norm: 52.7634, il_score_sum: 64.1484, rl_score_sum: 65.5659, score_diff: -1.4175, il_win: 76.0000, rl_win: 205.8462
2025-09-24 10:39:56,004 - mmdet - INFO - Epoch [13][1340/3517]	lr: 2.503e-05, eta: 9:07:00, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1863, debug_std_frame_0: 0.2260, debug_std_frame_1: 0.2576, debug_std_frame_2: 0.3146, debug_std_frame_3: 0.3820, debug_std_frame_4: 0.4452, debug_std_frame_5: 0.5108, loss_rl: -0.1988, loss_critic: 1.1822, loss_rl_bc: 0.0122, il_score: 0.6352, rl_score: 0.6399, prev_frame_loss_waypoint_0: 0.1954, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.4181, grad_norm: 45.0222, il_score_sum: 64.1484, rl_score_sum: 65.5659, score_diff: -1.4175, il_win: 76.0000, rl_win: 205.8462
2025-09-24 10:40:12,418 - mmdet - INFO - Epoch [13][1360/3517]	lr: 2.503e-05, eta: 9:06:45, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1867, debug_std_frame_0: 0.2229, debug_std_frame_1: 0.2535, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3607, debug_std_frame_4: 0.4158, debug_std_frame_5: 0.4733, loss_rl: -0.2877, loss_critic: 1.2423, loss_rl_bc: 0.0086, il_score: 0.6446, rl_score: 0.7021, prev_frame_loss_waypoint_0: 0.2090, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.3980, grad_norm: 54.7200, il_score_sum: 64.1484, rl_score_sum: 65.5659, score_diff: -1.4175, il_win: 76.0000, rl_win: 205.8462
2025-09-24 10:40:28,703 - mmdet - INFO - Epoch [13][1380/3517]	lr: 2.503e-05, eta: 9:06:29, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1755, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2392, debug_std_frame_2: 0.2887, debug_std_frame_3: 0.3435, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4498, loss_rl: -0.2773, loss_critic: 1.7243, loss_rl_bc: 0.0103, il_score: 0.6020, rl_score: 0.6446, prev_frame_loss_waypoint_0: 0.1760, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.8412, grad_norm: 44.0385, il_score_sum: 64.1484, rl_score_sum: 65.5659, score_diff: -1.4175, il_win: 76.0000, rl_win: 205.8462
2025-09-24 10:40:45,019 - mmdet - INFO - Epoch [13][1400/3517]	lr: 2.503e-05, eta: 9:06:13, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1827, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3491, debug_std_frame_4: 0.4078, debug_std_frame_5: 0.4679, loss_rl: -0.2458, loss_critic: 1.3783, loss_rl_bc: 0.0088, il_score: 0.6312, rl_score: 0.6479, prev_frame_loss_waypoint_0: 0.2015, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5655, grad_norm: 50.8605, il_score_sum: 64.0662, rl_score_sum: 65.5957, score_diff: -1.5295, il_win: 76.0000, rl_win: 206.2143
2025-09-24 10:41:01,188 - mmdet - INFO - Epoch [13][1420/3517]	lr: 2.503e-05, eta: 9:05:57, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1919, debug_std_frame_0: 0.2213, debug_std_frame_1: 0.2467, debug_std_frame_2: 0.2962, debug_std_frame_3: 0.3484, debug_std_frame_4: 0.4048, debug_std_frame_5: 0.4604, loss_rl: -0.2383, loss_critic: 1.2403, loss_rl_bc: 0.0151, il_score: 0.6492, rl_score: 0.6440, prev_frame_loss_waypoint_0: 0.1976, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.4508, grad_norm: 58.0789, il_score_sum: 64.0662, rl_score_sum: 65.5957, score_diff: -1.5295, il_win: 76.0000, rl_win: 206.2143
2025-09-24 10:41:17,239 - mmdet - INFO - Epoch [13][1440/3517]	lr: 2.503e-05, eta: 9:05:41, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.2120, debug_std_frame_0: 0.2241, debug_std_frame_1: 0.2541, debug_std_frame_2: 0.3075, debug_std_frame_3: 0.3601, debug_std_frame_4: 0.4161, debug_std_frame_5: 0.4751, loss_rl: -0.2025, loss_critic: 1.2081, loss_rl_bc: 0.0167, il_score: 0.6040, rl_score: 0.6303, prev_frame_loss_waypoint_0: 0.2312, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.5109, grad_norm: 72.1813, il_score_sum: 64.0662, rl_score_sum: 65.5957, score_diff: -1.5295, il_win: 76.0000, rl_win: 206.2143
2025-09-24 10:41:33,387 - mmdet - INFO - Epoch [13][1460/3517]	lr: 2.503e-05, eta: 9:05:25, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2023, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2664, debug_std_frame_2: 0.3260, debug_std_frame_3: 0.3862, debug_std_frame_4: 0.4457, debug_std_frame_5: 0.5024, loss_rl: -0.1839, loss_critic: 1.4322, loss_rl_bc: 0.0486, il_score: 0.6027, rl_score: 0.6051, prev_frame_loss_waypoint_0: 0.2296, prev_frame_loss_rl_bc_0: 0.0450, loss: 1.8007, grad_norm: 66.2151, il_score_sum: 64.0662, rl_score_sum: 65.5957, score_diff: -1.5295, il_win: 76.0000, rl_win: 206.2143
2025-09-24 10:41:49,579 - mmdet - INFO - Epoch [13][1480/3517]	lr: 2.503e-05, eta: 9:05:09, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.2044, debug_std_frame_0: 0.2430, debug_std_frame_1: 0.2804, debug_std_frame_2: 0.3490, debug_std_frame_3: 0.4077, debug_std_frame_4: 0.4666, debug_std_frame_5: 0.5222, loss_rl: -0.1777, loss_critic: 1.1896, loss_rl_bc: 0.0156, il_score: 0.6399, rl_score: 0.6391, prev_frame_loss_waypoint_0: 0.2194, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.4976, grad_norm: 71.8705, il_score_sum: 64.0662, rl_score_sum: 65.5957, score_diff: -1.5295, il_win: 76.0000, rl_win: 206.2143
2025-09-24 10:42:06,110 - mmdet - INFO - Epoch [13][1500/3517]	lr: 2.503e-05, eta: 9:04:53, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1740, debug_std_frame_0: 0.2458, debug_std_frame_1: 0.2765, debug_std_frame_2: 0.3417, debug_std_frame_3: 0.3986, debug_std_frame_4: 0.4578, debug_std_frame_5: 0.5139, loss_rl: -0.1869, loss_critic: 1.2805, loss_rl_bc: 0.0193, il_score: 0.6609, rl_score: 0.6239, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.5162, grad_norm: 47.3492, il_score_sum: 63.9939, rl_score_sum: 65.4079, score_diff: -1.4140, il_win: 76.0000, rl_win: 206.5333
2025-09-24 10:42:22,188 - mmdet - INFO - Epoch [13][1520/3517]	lr: 2.503e-05, eta: 9:04:37, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.2038, debug_std_frame_0: 0.2537, debug_std_frame_1: 0.2861, debug_std_frame_2: 0.3425, debug_std_frame_3: 0.3986, debug_std_frame_4: 0.4559, debug_std_frame_5: 0.5144, loss_rl: -0.1545, loss_critic: 1.6207, loss_rl_bc: 0.0265, il_score: 0.6276, rl_score: 0.6030, prev_frame_loss_waypoint_0: 0.2080, prev_frame_loss_rl_bc_0: 0.0256, loss: 1.9584, grad_norm: 65.0120, il_score_sum: 63.9939, rl_score_sum: 65.4079, score_diff: -1.4140, il_win: 76.0000, rl_win: 206.5333
2025-09-24 10:42:38,441 - mmdet - INFO - Epoch [13][1540/3517]	lr: 2.503e-05, eta: 9:04:21, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.2048, debug_std_frame_0: 0.2639, debug_std_frame_1: 0.2946, debug_std_frame_2: 0.3454, debug_std_frame_3: 0.4004, debug_std_frame_4: 0.4580, debug_std_frame_5: 0.5185, loss_rl: -0.1915, loss_critic: 1.3637, loss_rl_bc: 0.0232, il_score: 0.5905, rl_score: 0.5814, prev_frame_loss_waypoint_0: 0.2087, prev_frame_loss_rl_bc_0: 0.0249, loss: 1.6637, grad_norm: 57.8282, il_score_sum: 63.9939, rl_score_sum: 65.4079, score_diff: -1.4140, il_win: 76.0000, rl_win: 206.5333
2025-09-24 10:42:54,673 - mmdet - INFO - Epoch [13][1560/3517]	lr: 2.503e-05, eta: 9:04:05, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1968, debug_std_frame_0: 0.2658, debug_std_frame_1: 0.2945, debug_std_frame_2: 0.3449, debug_std_frame_3: 0.3988, debug_std_frame_4: 0.4561, debug_std_frame_5: 0.5120, loss_rl: -0.2342, loss_critic: 1.2765, loss_rl_bc: 0.0183, il_score: 0.6263, rl_score: 0.6299, prev_frame_loss_waypoint_0: 0.2076, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.5137, grad_norm: 49.4236, il_score_sum: 63.9939, rl_score_sum: 65.4079, score_diff: -1.4140, il_win: 76.0000, rl_win: 206.5333
2025-09-24 10:43:10,680 - mmdet - INFO - Epoch [13][1580/3517]	lr: 2.503e-05, eta: 9:03:49, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.2058, debug_std_frame_0: 0.2743, debug_std_frame_1: 0.2991, debug_std_frame_2: 0.3412, debug_std_frame_3: 0.3901, debug_std_frame_4: 0.4392, debug_std_frame_5: 0.4916, loss_rl: -0.1997, loss_critic: 1.8431, loss_rl_bc: 0.0404, il_score: 0.5918, rl_score: 0.6044, prev_frame_loss_waypoint_0: 0.2279, prev_frame_loss_rl_bc_0: 0.0338, loss: 2.1791, grad_norm: 71.0703, il_score_sum: 63.9939, rl_score_sum: 65.4079, score_diff: -1.4140, il_win: 76.0000, rl_win: 206.5333
2025-09-24 10:43:27,018 - mmdet - INFO - Epoch [13][1600/3517]	lr: 2.503e-05, eta: 9:03:33, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1849, debug_std_frame_0: 0.2825, debug_std_frame_1: 0.3093, debug_std_frame_2: 0.3552, debug_std_frame_3: 0.4079, debug_std_frame_4: 0.4610, debug_std_frame_5: 0.5168, loss_rl: -0.2181, loss_critic: 1.3304, loss_rl_bc: 0.0159, il_score: 0.6207, rl_score: 0.6259, prev_frame_loss_waypoint_0: 0.2110, prev_frame_loss_rl_bc_0: 0.0206, loss: 1.5717, grad_norm: 52.3503, il_score_sum: 63.8301, rl_score_sum: 65.1396, score_diff: -1.3095, il_win: 76.0000, rl_win: 206.8125
2025-09-24 10:43:43,036 - mmdet - INFO - Epoch [13][1620/3517]	lr: 2.503e-05, eta: 9:03:17, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1874, debug_std_frame_0: 0.2632, debug_std_frame_1: 0.2869, debug_std_frame_2: 0.3249, debug_std_frame_3: 0.3698, debug_std_frame_4: 0.4179, debug_std_frame_5: 0.4681, loss_rl: -0.2414, loss_critic: 1.3268, loss_rl_bc: 0.0120, il_score: 0.6371, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4971, grad_norm: 41.0808, il_score_sum: 63.8301, rl_score_sum: 65.1396, score_diff: -1.3095, il_win: 76.0000, rl_win: 206.8125
2025-09-24 10:43:59,291 - mmdet - INFO - Epoch [13][1640/3517]	lr: 2.503e-05, eta: 9:03:01, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1800, debug_std_frame_0: 0.2402, debug_std_frame_1: 0.2669, debug_std_frame_2: 0.3125, debug_std_frame_3: 0.3657, debug_std_frame_4: 0.4171, debug_std_frame_5: 0.4716, loss_rl: -0.2182, loss_critic: 1.5896, loss_rl_bc: 0.0129, il_score: 0.6265, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.2092, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.8149, grad_norm: 43.9759, il_score_sum: 63.8301, rl_score_sum: 65.1396, score_diff: -1.3095, il_win: 76.0000, rl_win: 206.8125
2025-09-24 10:44:15,721 - mmdet - INFO - Epoch [13][1660/3517]	lr: 2.503e-05, eta: 9:02:46, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.2358, debug_std_frame_0: 0.2479, debug_std_frame_1: 0.2727, debug_std_frame_2: 0.3151, debug_std_frame_3: 0.3655, debug_std_frame_4: 0.4165, debug_std_frame_5: 0.4712, loss_rl: -0.1938, loss_critic: 1.5219, loss_rl_bc: 0.0225, il_score: 0.5885, rl_score: 0.6135, prev_frame_loss_waypoint_0: 0.2588, prev_frame_loss_rl_bc_0: 0.0236, loss: 1.8979, grad_norm: 73.3276, il_score_sum: 63.8301, rl_score_sum: 65.1396, score_diff: -1.3095, il_win: 76.0000, rl_win: 206.8125
2025-09-24 10:44:31,869 - mmdet - INFO - Epoch [13][1680/3517]	lr: 2.503e-05, eta: 9:02:30, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.2396, debug_std_frame_0: 0.2484, debug_std_frame_1: 0.2794, debug_std_frame_2: 0.3301, debug_std_frame_3: 0.3834, debug_std_frame_4: 0.4385, debug_std_frame_5: 0.4967, loss_rl: -0.1986, loss_critic: 1.2190, loss_rl_bc: 0.0186, il_score: 0.5800, rl_score: 0.6131, prev_frame_loss_waypoint_0: 0.2438, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.5691, grad_norm: 78.0041, il_score_sum: 63.8301, rl_score_sum: 65.1396, score_diff: -1.3095, il_win: 76.0000, rl_win: 206.8125
2025-09-24 10:44:48,623 - mmdet - INFO - Epoch [13][1700/3517]	lr: 2.503e-05, eta: 9:02:14, time: 0.838, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1945, debug_std_frame_0: 0.2482, debug_std_frame_1: 0.2775, debug_std_frame_2: 0.3249, debug_std_frame_3: 0.3770, debug_std_frame_4: 0.4326, debug_std_frame_5: 0.4906, loss_rl: -0.1866, loss_critic: 1.3840, loss_rl_bc: 0.0160, il_score: 0.6238, rl_score: 0.6115, prev_frame_loss_waypoint_0: 0.2000, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.6494, grad_norm: 57.6937, il_score_sum: 63.6719, rl_score_sum: 65.0299, score_diff: -1.3580, il_win: 76.0000, rl_win: 207.1176
2025-09-24 10:45:04,983 - mmdet - INFO - Epoch [13][1720/3517]	lr: 2.503e-05, eta: 9:01:59, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1978, debug_std_frame_0: 0.2510, debug_std_frame_1: 0.2803, debug_std_frame_2: 0.3321, debug_std_frame_3: 0.3857, debug_std_frame_4: 0.4418, debug_std_frame_5: 0.5002, loss_rl: -0.2113, loss_critic: 1.4240, loss_rl_bc: 0.0181, il_score: 0.6187, rl_score: 0.6276, prev_frame_loss_waypoint_0: 0.1943, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.6679, grad_norm: 46.1648, il_score_sum: 63.6719, rl_score_sum: 65.0299, score_diff: -1.3580, il_win: 76.0000, rl_win: 207.1176
2025-09-24 10:45:21,083 - mmdet - INFO - Epoch [13][1740/3517]	lr: 2.503e-05, eta: 9:01:43, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.2190, debug_std_frame_0: 0.2483, debug_std_frame_1: 0.2769, debug_std_frame_2: 0.3262, debug_std_frame_3: 0.3777, debug_std_frame_4: 0.4318, debug_std_frame_5: 0.4891, loss_rl: -0.2297, loss_critic: 1.1545, loss_rl_bc: 0.0151, il_score: 0.6064, rl_score: 0.6539, prev_frame_loss_waypoint_0: 0.2236, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.4255, grad_norm: 49.7805, il_score_sum: 63.6719, rl_score_sum: 65.0299, score_diff: -1.3580, il_win: 76.0000, rl_win: 207.1176
2025-09-24 10:45:37,464 - mmdet - INFO - Epoch [13][1760/3517]	lr: 2.503e-05, eta: 9:01:27, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1671, debug_std_frame_0: 0.2455, debug_std_frame_1: 0.2721, debug_std_frame_2: 0.3226, debug_std_frame_3: 0.3764, debug_std_frame_4: 0.4323, debug_std_frame_5: 0.4921, loss_rl: -0.1925, loss_critic: 1.6058, loss_rl_bc: 0.0105, il_score: 0.6435, rl_score: 0.6298, prev_frame_loss_waypoint_0: 0.2016, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.8336, grad_norm: 47.0436, il_score_sum: 63.6719, rl_score_sum: 65.0299, score_diff: -1.3580, il_win: 76.0000, rl_win: 207.1176
2025-09-24 10:45:53,746 - mmdet - INFO - Epoch [13][1780/3517]	lr: 2.503e-05, eta: 9:01:11, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.2008, debug_std_frame_0: 0.2379, debug_std_frame_1: 0.2637, debug_std_frame_2: 0.3135, debug_std_frame_3: 0.3665, debug_std_frame_4: 0.4215, debug_std_frame_5: 0.4802, loss_rl: -0.2342, loss_critic: 1.4294, loss_rl_bc: 0.0124, il_score: 0.6303, rl_score: 0.6457, prev_frame_loss_waypoint_0: 0.2007, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.6504, grad_norm: 40.3736, il_score_sum: 63.6719, rl_score_sum: 65.0299, score_diff: -1.3580, il_win: 76.0000, rl_win: 207.1176
2025-09-24 10:46:10,155 - mmdet - INFO - Epoch [13][1800/3517]	lr: 2.503e-05, eta: 9:00:55, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1835, debug_std_frame_0: 0.2317, debug_std_frame_1: 0.2580, debug_std_frame_2: 0.3095, debug_std_frame_3: 0.3619, debug_std_frame_4: 0.4158, debug_std_frame_5: 0.4706, loss_rl: -0.2102, loss_critic: 1.6304, loss_rl_bc: 0.0189, il_score: 0.6142, rl_score: 0.6021, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.8633, grad_norm: 41.5649, il_score_sum: 63.5895, rl_score_sum: 64.9175, score_diff: -1.3280, il_win: 76.0000, rl_win: 207.3889
2025-09-24 10:46:26,614 - mmdet - INFO - Epoch [13][1820/3517]	lr: 2.503e-05, eta: 9:00:39, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1882, debug_std_frame_0: 0.2498, debug_std_frame_1: 0.2788, debug_std_frame_2: 0.3282, debug_std_frame_3: 0.3838, debug_std_frame_4: 0.4371, debug_std_frame_5: 0.4951, loss_rl: -0.1705, loss_critic: 1.2082, loss_rl_bc: 0.0223, il_score: 0.6339, rl_score: 0.6028, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.5014, grad_norm: 49.3085, il_score_sum: 63.5895, rl_score_sum: 64.9175, score_diff: -1.3280, il_win: 76.0000, rl_win: 207.3889
2025-09-24 10:46:42,620 - mmdet - INFO - Epoch [13][1840/3517]	lr: 2.503e-05, eta: 9:00:23, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.2025, debug_std_frame_0: 0.2611, debug_std_frame_1: 0.2928, debug_std_frame_2: 0.3451, debug_std_frame_3: 0.3986, debug_std_frame_4: 0.4523, debug_std_frame_5: 0.5129, loss_rl: -0.2168, loss_critic: 1.3089, loss_rl_bc: 0.0205, il_score: 0.6541, rl_score: 0.6386, prev_frame_loss_waypoint_0: 0.2235, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.5881, grad_norm: 45.7272, il_score_sum: 63.5895, rl_score_sum: 64.9175, score_diff: -1.3280, il_win: 76.0000, rl_win: 207.3889
2025-09-24 10:46:58,959 - mmdet - INFO - Epoch [13][1860/3517]	lr: 2.503e-05, eta: 9:00:07, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.2057, debug_std_frame_0: 0.2591, debug_std_frame_1: 0.2883, debug_std_frame_2: 0.3384, debug_std_frame_3: 0.3934, debug_std_frame_4: 0.4480, debug_std_frame_5: 0.5054, loss_rl: -0.2759, loss_critic: 1.2098, loss_rl_bc: 0.0127, il_score: 0.6495, rl_score: 0.6687, prev_frame_loss_waypoint_0: 0.2042, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.3994, grad_norm: 64.1745, il_score_sum: 63.5895, rl_score_sum: 64.9175, score_diff: -1.3280, il_win: 76.0000, rl_win: 207.3889
2025-09-24 10:47:15,071 - mmdet - INFO - Epoch [13][1880/3517]	lr: 2.503e-05, eta: 8:59:51, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2396, debug_std_frame_0: 0.2558, debug_std_frame_1: 0.2874, debug_std_frame_2: 0.3392, debug_std_frame_3: 0.3927, debug_std_frame_4: 0.4494, debug_std_frame_5: 0.5081, loss_rl: -0.2386, loss_critic: 1.0015, loss_rl_bc: 0.0152, il_score: 0.6234, rl_score: 0.6492, prev_frame_loss_waypoint_0: 0.2403, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.3015, grad_norm: 68.2321, il_score_sum: 63.5895, rl_score_sum: 64.9175, score_diff: -1.3280, il_win: 76.0000, rl_win: 207.3889
2025-09-24 10:47:31,882 - mmdet - INFO - Epoch [13][1900/3517]	lr: 2.503e-05, eta: 8:59:36, time: 0.841, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.2010, debug_std_frame_0: 0.2449, debug_std_frame_1: 0.2744, debug_std_frame_2: 0.3235, debug_std_frame_3: 0.3745, debug_std_frame_4: 0.4280, debug_std_frame_5: 0.4823, loss_rl: -0.2226, loss_critic: 1.3070, loss_rl_bc: 0.0107, il_score: 0.6158, rl_score: 0.6348, prev_frame_loss_waypoint_0: 0.2014, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.5361, grad_norm: 55.0240, il_score_sum: 63.5857, rl_score_sum: 64.8620, score_diff: -1.2763, il_win: 76.0000, rl_win: 207.6316
2025-09-24 10:47:48,051 - mmdet - INFO - Epoch [13][1920/3517]	lr: 2.503e-05, eta: 8:59:20, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1942, debug_std_frame_0: 0.2421, debug_std_frame_1: 0.2672, debug_std_frame_2: 0.3163, debug_std_frame_3: 0.3688, debug_std_frame_4: 0.4210, debug_std_frame_5: 0.4779, loss_rl: -0.2550, loss_critic: 1.4397, loss_rl_bc: 0.0128, il_score: 0.6345, rl_score: 0.6819, prev_frame_loss_waypoint_0: 0.2030, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.6338, grad_norm: 63.1224, il_score_sum: 63.5857, rl_score_sum: 64.8620, score_diff: -1.2763, il_win: 76.0000, rl_win: 207.6316
2025-09-24 10:48:04,571 - mmdet - INFO - Epoch [13][1940/3517]	lr: 2.503e-05, eta: 8:59:04, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1988, debug_std_frame_0: 0.2388, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3168, debug_std_frame_3: 0.3681, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4764, loss_rl: -0.1901, loss_critic: 1.3005, loss_rl_bc: 0.0197, il_score: 0.5943, rl_score: 0.5972, prev_frame_loss_waypoint_0: 0.2223, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.5984, grad_norm: 51.9075, il_score_sum: 63.5857, rl_score_sum: 64.8620, score_diff: -1.2763, il_win: 76.0000, rl_win: 207.6316
2025-09-24 10:48:21,050 - mmdet - INFO - Epoch [13][1960/3517]	lr: 2.503e-05, eta: 8:58:49, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.2069, debug_std_frame_0: 0.2494, debug_std_frame_1: 0.2814, debug_std_frame_2: 0.3379, debug_std_frame_3: 0.3913, debug_std_frame_4: 0.4473, debug_std_frame_5: 0.5040, loss_rl: -0.1854, loss_critic: 1.2260, loss_rl_bc: 0.0218, il_score: 0.6349, rl_score: 0.6192, prev_frame_loss_waypoint_0: 0.1880, prev_frame_loss_rl_bc_0: 0.0172, loss: 1.5009, grad_norm: 55.7237, il_score_sum: 63.5857, rl_score_sum: 64.8620, score_diff: -1.2763, il_win: 76.0000, rl_win: 207.6316
2025-09-24 10:48:37,783 - mmdet - INFO - Epoch [13][1980/3517]	lr: 2.503e-05, eta: 8:58:33, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1926, debug_std_frame_0: 0.2546, debug_std_frame_1: 0.2844, debug_std_frame_2: 0.3376, debug_std_frame_3: 0.3892, debug_std_frame_4: 0.4491, debug_std_frame_5: 0.5077, loss_rl: -0.2153, loss_critic: 1.3068, loss_rl_bc: 0.0139, il_score: 0.6365, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.1997, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.5395, grad_norm: 50.0791, il_score_sum: 63.5857, rl_score_sum: 64.8620, score_diff: -1.2763, il_win: 76.0000, rl_win: 207.6316
2025-09-24 10:48:54,650 - mmdet - INFO - Epoch [13][2000/3517]	lr: 2.503e-05, eta: 8:58:18, time: 0.844, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1638, debug_std_frame_0: 0.2522, debug_std_frame_1: 0.2779, debug_std_frame_2: 0.3279, debug_std_frame_3: 0.3778, debug_std_frame_4: 0.4302, debug_std_frame_5: 0.4844, loss_rl: -0.2649, loss_critic: 1.3657, loss_rl_bc: 0.0094, il_score: 0.6693, rl_score: 0.6692, prev_frame_loss_waypoint_0: 0.1838, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.5008, grad_norm: 51.7130, il_score_sum: 63.5795, rl_score_sum: 64.8418, score_diff: -1.2623, il_win: 76.0000, rl_win: 207.8500
2025-09-24 10:49:11,144 - mmdet - INFO - Epoch [13][2020/3517]	lr: 2.503e-05, eta: 8:58:02, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1729, debug_std_frame_0: 0.2431, debug_std_frame_1: 0.2672, debug_std_frame_2: 0.3164, debug_std_frame_3: 0.3636, debug_std_frame_4: 0.4122, debug_std_frame_5: 0.4654, loss_rl: -0.2950, loss_critic: 1.5357, loss_rl_bc: 0.0090, il_score: 0.6564, rl_score: 0.6810, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.6510, grad_norm: 50.9223, il_score_sum: 63.5795, rl_score_sum: 64.8418, score_diff: -1.2623, il_win: 76.0000, rl_win: 207.8500
2025-09-24 10:49:27,642 - mmdet - INFO - Epoch [13][2040/3517]	lr: 2.503e-05, eta: 8:57:47, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1781, debug_std_frame_0: 0.2285, debug_std_frame_1: 0.2557, debug_std_frame_2: 0.3107, debug_std_frame_3: 0.3653, debug_std_frame_4: 0.4205, debug_std_frame_5: 0.4777, loss_rl: -0.2446, loss_critic: 1.3507, loss_rl_bc: 0.0123, il_score: 0.6415, rl_score: 0.6469, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5221, grad_norm: 41.2680, il_score_sum: 63.5795, rl_score_sum: 64.8418, score_diff: -1.2623, il_win: 76.0000, rl_win: 207.8500
2025-09-24 10:49:44,144 - mmdet - INFO - Epoch [13][2060/3517]	lr: 2.503e-05, eta: 8:57:31, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1861, debug_std_frame_0: 0.2413, debug_std_frame_1: 0.2649, debug_std_frame_2: 0.3157, debug_std_frame_3: 0.3663, debug_std_frame_4: 0.4172, debug_std_frame_5: 0.4725, loss_rl: -0.2111, loss_critic: 1.7463, loss_rl_bc: 0.0203, il_score: 0.5911, rl_score: 0.5895, prev_frame_loss_waypoint_0: 0.2112, prev_frame_loss_rl_bc_0: 0.0275, loss: 2.0074, grad_norm: 68.6857, il_score_sum: 63.5795, rl_score_sum: 64.8418, score_diff: -1.2623, il_win: 76.0000, rl_win: 207.8500
2025-09-24 10:50:00,240 - mmdet - INFO - Epoch [13][2080/3517]	lr: 2.503e-05, eta: 8:57:15, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1778, debug_std_frame_0: 0.2514, debug_std_frame_1: 0.2780, debug_std_frame_2: 0.3294, debug_std_frame_3: 0.3820, debug_std_frame_4: 0.4329, debug_std_frame_5: 0.4897, loss_rl: -0.2405, loss_critic: 1.0973, loss_rl_bc: 0.0118, il_score: 0.6751, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1886, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.2775, grad_norm: 40.4209, il_score_sum: 63.5795, rl_score_sum: 64.8418, score_diff: -1.2623, il_win: 76.0000, rl_win: 207.8500
2025-09-24 10:50:16,723 - mmdet - INFO - Epoch [13][2100/3517]	lr: 2.503e-05, eta: 8:56:59, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1752, debug_std_frame_0: 0.2394, debug_std_frame_1: 0.2639, debug_std_frame_2: 0.3109, debug_std_frame_3: 0.3591, debug_std_frame_4: 0.4077, debug_std_frame_5: 0.4607, loss_rl: -0.2892, loss_critic: 1.4145, loss_rl_bc: 0.0074, il_score: 0.6610, rl_score: 0.6790, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.5263, grad_norm: 48.9405, il_score_sum: 63.6409, rl_score_sum: 64.9526, score_diff: -1.3117, il_win: 76.0000, rl_win: 208.3500
2025-09-24 10:50:32,906 - mmdet - INFO - Epoch [13][2120/3517]	lr: 2.503e-05, eta: 8:56:43, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1677, debug_std_frame_0: 0.2346, debug_std_frame_1: 0.2531, debug_std_frame_2: 0.2938, debug_std_frame_3: 0.3368, debug_std_frame_4: 0.3826, debug_std_frame_5: 0.4317, loss_rl: -0.3040, loss_critic: 1.2124, loss_rl_bc: 0.0016, il_score: 0.6938, rl_score: 0.7194, prev_frame_loss_waypoint_0: 0.1976, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.3100, grad_norm: 61.6347, il_score_sum: 63.6409, rl_score_sum: 64.9526, score_diff: -1.3117, il_win: 76.0000, rl_win: 208.3500
2025-09-24 10:50:49,047 - mmdet - INFO - Epoch [13][2140/3517]	lr: 2.503e-05, eta: 8:56:27, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1965, debug_std_frame_0: 0.2304, debug_std_frame_1: 0.2520, debug_std_frame_2: 0.2974, debug_std_frame_3: 0.3452, debug_std_frame_4: 0.3949, debug_std_frame_5: 0.4513, loss_rl: -0.1940, loss_critic: 1.7188, loss_rl_bc: 0.0157, il_score: 0.5880, rl_score: 0.6097, prev_frame_loss_waypoint_0: 0.2280, prev_frame_loss_rl_bc_0: 0.0169, loss: 2.0091, grad_norm: 58.9630, il_score_sum: 63.6409, rl_score_sum: 64.9526, score_diff: -1.3117, il_win: 76.0000, rl_win: 208.3500
2025-09-24 10:51:05,256 - mmdet - INFO - Epoch [13][2160/3517]	lr: 2.503e-05, eta: 8:56:11, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1963, debug_std_frame_0: 0.2352, debug_std_frame_1: 0.2650, debug_std_frame_2: 0.3179, debug_std_frame_3: 0.3710, debug_std_frame_4: 0.4240, debug_std_frame_5: 0.4844, loss_rl: -0.2078, loss_critic: 1.2952, loss_rl_bc: 0.0133, il_score: 0.6254, rl_score: 0.6399, prev_frame_loss_waypoint_0: 0.2176, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.5621, grad_norm: 53.9057, il_score_sum: 63.6409, rl_score_sum: 64.9526, score_diff: -1.3117, il_win: 76.0000, rl_win: 208.3500
2025-09-24 10:51:21,504 - mmdet - INFO - Epoch [13][2180/3517]	lr: 2.503e-05, eta: 8:55:55, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1698, debug_std_frame_0: 0.2344, debug_std_frame_1: 0.2650, debug_std_frame_2: 0.3166, debug_std_frame_3: 0.3693, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4846, loss_rl: -0.2431, loss_critic: 1.5355, loss_rl_bc: 0.0110, il_score: 0.6469, rl_score: 0.6369, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.7097, grad_norm: 49.4356, il_score_sum: 63.6409, rl_score_sum: 64.9526, score_diff: -1.3117, il_win: 76.0000, rl_win: 208.3500
2025-09-24 10:51:37,931 - mmdet - INFO - Epoch [13][2200/3517]	lr: 2.503e-05, eta: 8:55:40, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1806, debug_std_frame_0: 0.2411, debug_std_frame_1: 0.2702, debug_std_frame_2: 0.3176, debug_std_frame_3: 0.3688, debug_std_frame_4: 0.4248, debug_std_frame_5: 0.4805, loss_rl: -0.2504, loss_critic: 1.2100, loss_rl_bc: 0.0125, il_score: 0.6465, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2001, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.3996, grad_norm: 53.7987, il_score_sum: 63.6393, rl_score_sum: 64.9207, score_diff: -1.2814, il_win: 76.0000, rl_win: 208.8500
2025-09-24 10:51:54,003 - mmdet - INFO - Epoch [13][2220/3517]	lr: 2.503e-05, eta: 8:55:24, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1942, debug_std_frame_0: 0.2472, debug_std_frame_1: 0.2775, debug_std_frame_2: 0.3277, debug_std_frame_3: 0.3787, debug_std_frame_4: 0.4357, debug_std_frame_5: 0.4941, loss_rl: -0.2082, loss_critic: 1.5223, loss_rl_bc: 0.0159, il_score: 0.6192, rl_score: 0.6362, prev_frame_loss_waypoint_0: 0.1958, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.7615, grad_norm: 52.1713, il_score_sum: 63.6393, rl_score_sum: 64.9207, score_diff: -1.2814, il_win: 76.0000, rl_win: 208.8500
2025-09-24 10:52:10,461 - mmdet - INFO - Epoch [13][2240/3517]	lr: 2.503e-05, eta: 8:55:08, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1832, debug_std_frame_0: 0.2349, debug_std_frame_1: 0.2700, debug_std_frame_2: 0.3231, debug_std_frame_3: 0.3771, debug_std_frame_4: 0.4333, debug_std_frame_5: 0.4906, loss_rl: -0.2607, loss_critic: 1.1834, loss_rl_bc: 0.0088, il_score: 0.6106, rl_score: 0.6547, prev_frame_loss_waypoint_0: 0.1948, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3458, grad_norm: 45.3586, il_score_sum: 63.6393, rl_score_sum: 64.9207, score_diff: -1.2814, il_win: 76.0000, rl_win: 208.8500
2025-09-24 10:52:26,851 - mmdet - INFO - Epoch [13][2260/3517]	lr: 2.503e-05, eta: 8:54:52, time: 0.820, data_time: 0.014, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1736, debug_std_frame_0: 0.2352, debug_std_frame_1: 0.2639, debug_std_frame_2: 0.3109, debug_std_frame_3: 0.3624, debug_std_frame_4: 0.4146, debug_std_frame_5: 0.4709, loss_rl: -0.2462, loss_critic: 1.7056, loss_rl_bc: 0.0121, il_score: 0.5964, rl_score: 0.6185, prev_frame_loss_waypoint_0: 0.1916, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.8775, grad_norm: 49.5556, il_score_sum: 63.6393, rl_score_sum: 64.9207, score_diff: -1.2814, il_win: 76.0000, rl_win: 208.8500
2025-09-24 10:52:42,981 - mmdet - INFO - Epoch [13][2280/3517]	lr: 2.503e-05, eta: 8:54:36, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1580, debug_std_frame_0: 0.2238, debug_std_frame_1: 0.2475, debug_std_frame_2: 0.2917, debug_std_frame_3: 0.3388, debug_std_frame_4: 0.3868, debug_std_frame_5: 0.4393, loss_rl: -0.3047, loss_critic: 1.4091, loss_rl_bc: 0.0032, il_score: 0.6642, rl_score: 0.6996, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4879, grad_norm: 39.5548, il_score_sum: 63.6393, rl_score_sum: 64.9207, score_diff: -1.2814, il_win: 76.0000, rl_win: 208.8500
2025-09-24 10:52:59,309 - mmdet - INFO - Epoch [13][2300/3517]	lr: 2.503e-05, eta: 8:54:20, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1875, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2416, debug_std_frame_2: 0.2893, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3948, debug_std_frame_5: 0.4547, loss_rl: -0.2511, loss_critic: 1.1215, loss_rl_bc: 0.0080, il_score: 0.6515, rl_score: 0.6808, prev_frame_loss_waypoint_0: 0.1980, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.3049, grad_norm: 38.8191, il_score_sum: 63.4622, rl_score_sum: 64.8473, score_diff: -1.3852, il_win: 76.0000, rl_win: 209.4000
2025-09-24 10:53:15,524 - mmdet - INFO - Epoch [13][2320/3517]	lr: 2.503e-05, eta: 8:54:04, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1843, debug_std_frame_0: 0.2213, debug_std_frame_1: 0.2468, debug_std_frame_2: 0.2950, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.3969, debug_std_frame_5: 0.4570, loss_rl: -0.2233, loss_critic: 1.6302, loss_rl_bc: 0.0163, il_score: 0.6287, rl_score: 0.6352, prev_frame_loss_waypoint_0: 0.1968, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.8485, grad_norm: 67.3377, il_score_sum: 63.4622, rl_score_sum: 64.8473, score_diff: -1.3852, il_win: 76.0000, rl_win: 209.4000
2025-09-24 10:53:31,757 - mmdet - INFO - Epoch [13][2340/3517]	lr: 2.503e-05, eta: 8:53:48, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1935, debug_std_frame_0: 0.2271, debug_std_frame_1: 0.2581, debug_std_frame_2: 0.3082, debug_std_frame_3: 0.3569, debug_std_frame_4: 0.4077, debug_std_frame_5: 0.4613, loss_rl: -0.2400, loss_critic: 1.5234, loss_rl_bc: 0.0178, il_score: 0.6586, rl_score: 0.6551, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0193, loss: 1.7316, grad_norm: 46.0880, il_score_sum: 63.4622, rl_score_sum: 64.8473, score_diff: -1.3852, il_win: 76.0000, rl_win: 209.4000
2025-09-24 10:53:48,078 - mmdet - INFO - Epoch [13][2360/3517]	lr: 2.503e-05, eta: 8:53:33, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1668, debug_std_frame_0: 0.2306, debug_std_frame_1: 0.2660, debug_std_frame_2: 0.3193, debug_std_frame_3: 0.3709, debug_std_frame_4: 0.4244, debug_std_frame_5: 0.4800, loss_rl: -0.2256, loss_critic: 1.7251, loss_rl_bc: 0.0138, il_score: 0.6299, rl_score: 0.6240, prev_frame_loss_waypoint_0: 0.1871, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.9079, grad_norm: 41.2782, il_score_sum: 63.4622, rl_score_sum: 64.8473, score_diff: -1.3852, il_win: 76.0000, rl_win: 209.4000
2025-09-24 10:54:04,367 - mmdet - INFO - Epoch [13][2380/3517]	lr: 2.503e-05, eta: 8:53:17, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1722, debug_std_frame_0: 0.2333, debug_std_frame_1: 0.2679, debug_std_frame_2: 0.3202, debug_std_frame_3: 0.3725, debug_std_frame_4: 0.4246, debug_std_frame_5: 0.4808, loss_rl: -0.2465, loss_critic: 1.3554, loss_rl_bc: 0.0086, il_score: 0.6415, rl_score: 0.6574, prev_frame_loss_waypoint_0: 0.1958, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.5240, grad_norm: 47.3051, il_score_sum: 63.4622, rl_score_sum: 64.8473, score_diff: -1.3852, il_win: 76.0000, rl_win: 209.4000
2025-09-24 10:54:20,748 - mmdet - INFO - Epoch [13][2400/3517]	lr: 2.503e-05, eta: 8:53:01, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1908, debug_std_frame_0: 0.2372, debug_std_frame_1: 0.2712, debug_std_frame_2: 0.3230, debug_std_frame_3: 0.3787, debug_std_frame_4: 0.4343, debug_std_frame_5: 0.4941, loss_rl: -0.2521, loss_critic: 1.5314, loss_rl_bc: 0.0135, il_score: 0.6521, rl_score: 0.6631, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.7282, grad_norm: 46.7105, il_score_sum: 63.4724, rl_score_sum: 64.7702, score_diff: -1.2978, il_win: 76.0000, rl_win: 209.9000
2025-09-24 10:54:36,606 - mmdet - INFO - Epoch [13][2420/3517]	lr: 2.503e-05, eta: 8:52:45, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1875, debug_std_frame_0: 0.2288, debug_std_frame_1: 0.2582, debug_std_frame_2: 0.3059, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4651, loss_rl: -0.2555, loss_critic: 1.4957, loss_rl_bc: 0.0115, il_score: 0.6425, rl_score: 0.6449, prev_frame_loss_waypoint_0: 0.1952, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.6726, grad_norm: 40.0485, il_score_sum: 63.4724, rl_score_sum: 64.7702, score_diff: -1.2978, il_win: 76.0000, rl_win: 209.9000
2025-09-24 10:54:52,582 - mmdet - INFO - Epoch [13][2440/3517]	lr: 2.503e-05, eta: 8:52:28, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1662, debug_std_frame_0: 0.2228, debug_std_frame_1: 0.2520, debug_std_frame_2: 0.3018, debug_std_frame_3: 0.3560, debug_std_frame_4: 0.4123, debug_std_frame_5: 0.4732, loss_rl: -0.2708, loss_critic: 1.5338, loss_rl_bc: 0.0102, il_score: 0.6745, rl_score: 0.6681, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.6443, grad_norm: 42.0960, il_score_sum: 63.4724, rl_score_sum: 64.7702, score_diff: -1.2978, il_win: 76.0000, rl_win: 209.9000
2025-09-24 10:55:08,510 - mmdet - INFO - Epoch [13][2460/3517]	lr: 2.503e-05, eta: 8:52:12, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1879, debug_std_frame_0: 0.2254, debug_std_frame_1: 0.2488, debug_std_frame_2: 0.2915, debug_std_frame_3: 0.3412, debug_std_frame_4: 0.3898, debug_std_frame_5: 0.4438, loss_rl: -0.2589, loss_critic: 1.5100, loss_rl_bc: 0.0098, il_score: 0.6658, rl_score: 0.6822, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.6772, grad_norm: 49.6016, il_score_sum: 63.4724, rl_score_sum: 64.7702, score_diff: -1.2978, il_win: 76.0000, rl_win: 209.9000
2025-09-24 10:55:24,568 - mmdet - INFO - Epoch [13][2480/3517]	lr: 2.503e-05, eta: 8:51:56, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.2060, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2437, debug_std_frame_2: 0.2973, debug_std_frame_3: 0.3550, debug_std_frame_4: 0.4102, debug_std_frame_5: 0.4721, loss_rl: -0.2362, loss_critic: 1.1636, loss_rl_bc: 0.0154, il_score: 0.6562, rl_score: 0.6732, prev_frame_loss_waypoint_0: 0.1972, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.3878, grad_norm: 37.4829, il_score_sum: 63.4724, rl_score_sum: 64.7702, score_diff: -1.2978, il_win: 76.0000, rl_win: 209.9000
2025-09-24 10:55:40,929 - mmdet - INFO - Epoch [13][2500/3517]	lr: 2.503e-05, eta: 8:51:40, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1857, debug_std_frame_0: 0.2231, debug_std_frame_1: 0.2550, debug_std_frame_2: 0.3116, debug_std_frame_3: 0.3683, debug_std_frame_4: 0.4245, debug_std_frame_5: 0.4872, loss_rl: -0.2631, loss_critic: 1.1428, loss_rl_bc: 0.0072, il_score: 0.6719, rl_score: 0.6869, prev_frame_loss_waypoint_0: 0.2181, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.3312, grad_norm: 60.3188, il_score_sum: 63.5736, rl_score_sum: 64.8813, score_diff: -1.3077, il_win: 76.0000, rl_win: 210.4500
2025-09-24 10:55:56,826 - mmdet - INFO - Epoch [13][2520/3517]	lr: 2.503e-05, eta: 8:51:24, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1659, debug_std_frame_0: 0.2150, debug_std_frame_1: 0.2431, debug_std_frame_2: 0.2905, debug_std_frame_3: 0.3396, debug_std_frame_4: 0.3895, debug_std_frame_5: 0.4431, loss_rl: -0.2740, loss_critic: 1.5169, loss_rl_bc: 0.0064, il_score: 0.6676, rl_score: 0.6841, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.6257, grad_norm: 49.9212, il_score_sum: 63.5736, rl_score_sum: 64.8813, score_diff: -1.3077, il_win: 76.0000, rl_win: 210.4500
2025-09-24 10:56:12,945 - mmdet - INFO - Epoch [13][2540/3517]	lr: 2.503e-05, eta: 8:51:08, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1924, debug_std_frame_0: 0.2171, debug_std_frame_1: 0.2471, debug_std_frame_2: 0.2990, debug_std_frame_3: 0.3503, debug_std_frame_4: 0.4018, debug_std_frame_5: 0.4553, loss_rl: -0.2243, loss_critic: 1.3246, loss_rl_bc: 0.0172, il_score: 0.6589, rl_score: 0.6601, prev_frame_loss_waypoint_0: 0.1931, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.5471, grad_norm: 48.8814, il_score_sum: 63.5736, rl_score_sum: 64.8813, score_diff: -1.3077, il_win: 76.0000, rl_win: 210.4500
2025-09-24 10:56:29,095 - mmdet - INFO - Epoch [13][2560/3517]	lr: 2.503e-05, eta: 8:50:52, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1912, debug_std_frame_0: 0.2251, debug_std_frame_1: 0.2581, debug_std_frame_2: 0.3087, debug_std_frame_3: 0.3620, debug_std_frame_4: 0.4158, debug_std_frame_5: 0.4707, loss_rl: -0.2146, loss_critic: 1.2647, loss_rl_bc: 0.0150, il_score: 0.6718, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.2020, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.5075, grad_norm: 58.0729, il_score_sum: 63.5736, rl_score_sum: 64.8813, score_diff: -1.3077, il_win: 76.0000, rl_win: 210.4500
2025-09-24 10:56:45,157 - mmdet - INFO - Epoch [13][2580/3517]	lr: 2.503e-05, eta: 8:50:36, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.2004, debug_std_frame_0: 0.2288, debug_std_frame_1: 0.2708, debug_std_frame_2: 0.3246, debug_std_frame_3: 0.3802, debug_std_frame_4: 0.4322, debug_std_frame_5: 0.4891, loss_rl: -0.2519, loss_critic: 1.1688, loss_rl_bc: 0.0150, il_score: 0.6069, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.2061, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.3808, grad_norm: 46.5329, il_score_sum: 63.5736, rl_score_sum: 64.8813, score_diff: -1.3077, il_win: 76.0000, rl_win: 210.4500
2025-09-24 10:57:01,436 - mmdet - INFO - Epoch [13][2600/3517]	lr: 2.503e-05, eta: 8:50:20, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1909, debug_std_frame_0: 0.2366, debug_std_frame_1: 0.2746, debug_std_frame_2: 0.3259, debug_std_frame_3: 0.3790, debug_std_frame_4: 0.4318, debug_std_frame_5: 0.4867, loss_rl: -0.2243, loss_critic: 1.3698, loss_rl_bc: 0.0127, il_score: 0.6435, rl_score: 0.6360, prev_frame_loss_waypoint_0: 0.2119, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.6004, grad_norm: 53.6315, il_score_sum: 63.6238, rl_score_sum: 64.9268, score_diff: -1.3030, il_win: 76.0000, rl_win: 211.0000
2025-09-24 10:57:17,574 - mmdet - INFO - Epoch [13][2620/3517]	lr: 2.503e-05, eta: 8:50:04, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.2068, debug_std_frame_0: 0.2471, debug_std_frame_1: 0.2870, debug_std_frame_2: 0.3440, debug_std_frame_3: 0.4015, debug_std_frame_4: 0.4610, debug_std_frame_5: 0.5233, loss_rl: -0.2052, loss_critic: 1.3680, loss_rl_bc: 0.0161, il_score: 0.6248, rl_score: 0.6214, prev_frame_loss_waypoint_0: 0.2242, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.6585, grad_norm: 54.0756, il_score_sum: 63.6238, rl_score_sum: 64.9268, score_diff: -1.3030, il_win: 76.0000, rl_win: 211.0000
2025-09-24 10:57:33,794 - mmdet - INFO - Epoch [13][2640/3517]	lr: 2.503e-05, eta: 8:49:48, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1970, debug_std_frame_0: 0.2302, debug_std_frame_1: 0.2685, debug_std_frame_2: 0.3264, debug_std_frame_3: 0.3846, debug_std_frame_4: 0.4428, debug_std_frame_5: 0.5045, loss_rl: -0.2630, loss_critic: 1.0938, loss_rl_bc: 0.0184, il_score: 0.6226, rl_score: 0.6531, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.3049, grad_norm: 65.1688, il_score_sum: 63.6238, rl_score_sum: 64.9268, score_diff: -1.3030, il_win: 76.0000, rl_win: 211.0000
2025-09-24 10:57:50,071 - mmdet - INFO - Epoch [13][2660/3517]	lr: 2.503e-05, eta: 8:49:32, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1863, debug_std_frame_0: 0.2475, debug_std_frame_1: 0.2812, debug_std_frame_2: 0.3342, debug_std_frame_3: 0.3933, debug_std_frame_4: 0.4514, debug_std_frame_5: 0.5142, loss_rl: -0.1411, loss_critic: 1.0567, loss_rl_bc: 0.0218, il_score: 0.6305, rl_score: 0.6117, prev_frame_loss_waypoint_0: 0.2044, prev_frame_loss_rl_bc_0: 0.0239, loss: 1.3810, grad_norm: 64.2695, il_score_sum: 63.6238, rl_score_sum: 64.9268, score_diff: -1.3030, il_win: 76.0000, rl_win: 211.0000
2025-09-24 10:58:06,148 - mmdet - INFO - Epoch [13][2680/3517]	lr: 2.503e-05, eta: 8:49:16, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1993, debug_std_frame_0: 0.2520, debug_std_frame_1: 0.2848, debug_std_frame_2: 0.3347, debug_std_frame_3: 0.3918, debug_std_frame_4: 0.4462, debug_std_frame_5: 0.5045, loss_rl: -0.2292, loss_critic: 1.1417, loss_rl_bc: 0.0157, il_score: 0.6381, rl_score: 0.6376, prev_frame_loss_waypoint_0: 0.1889, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.3558, grad_norm: 49.7153, il_score_sum: 63.6238, rl_score_sum: 64.9268, score_diff: -1.3030, il_win: 76.0000, rl_win: 211.0000
2025-09-24 10:58:22,430 - mmdet - INFO - Epoch [13][2700/3517]	lr: 2.503e-05, eta: 8:49:00, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2038, debug_std_frame_0: 0.2486, debug_std_frame_1: 0.2818, debug_std_frame_2: 0.3373, debug_std_frame_3: 0.3971, debug_std_frame_4: 0.4565, debug_std_frame_5: 0.5195, loss_rl: -0.2371, loss_critic: 1.2840, loss_rl_bc: 0.0187, il_score: 0.6015, rl_score: 0.6382, prev_frame_loss_waypoint_0: 0.2069, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.5197, grad_norm: 43.9171, il_score_sum: 63.5580, rl_score_sum: 64.8542, score_diff: -1.2962, il_win: 76.0000, rl_win: 211.5500
2025-09-24 10:58:38,481 - mmdet - INFO - Epoch [13][2720/3517]	lr: 2.503e-05, eta: 8:48:44, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1816, debug_std_frame_0: 0.2414, debug_std_frame_1: 0.2697, debug_std_frame_2: 0.3202, debug_std_frame_3: 0.3755, debug_std_frame_4: 0.4260, debug_std_frame_5: 0.4853, loss_rl: -0.2958, loss_critic: 1.4715, loss_rl_bc: 0.0105, il_score: 0.6721, rl_score: 0.6900, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.5971, grad_norm: 42.0353, il_score_sum: 63.5580, rl_score_sum: 64.8542, score_diff: -1.2962, il_win: 76.0000, rl_win: 211.5500
2025-09-24 10:58:54,690 - mmdet - INFO - Epoch [13][2740/3517]	lr: 2.503e-05, eta: 8:48:28, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1769, debug_std_frame_0: 0.2372, debug_std_frame_1: 0.2649, debug_std_frame_2: 0.3181, debug_std_frame_3: 0.3717, debug_std_frame_4: 0.4259, debug_std_frame_5: 0.4812, loss_rl: -0.2983, loss_critic: 1.4347, loss_rl_bc: 0.0066, il_score: 0.6477, rl_score: 0.6813, prev_frame_loss_waypoint_0: 0.2015, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.5624, grad_norm: 65.8376, il_score_sum: 63.5580, rl_score_sum: 64.8542, score_diff: -1.2962, il_win: 76.0000, rl_win: 211.5500
2025-09-24 10:59:10,830 - mmdet - INFO - Epoch [13][2760/3517]	lr: 2.503e-05, eta: 8:48:12, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1909, debug_std_frame_0: 0.2299, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3138, debug_std_frame_3: 0.3692, debug_std_frame_4: 0.4245, debug_std_frame_5: 0.4839, loss_rl: -0.2487, loss_critic: 1.2660, loss_rl_bc: 0.0105, il_score: 0.6059, rl_score: 0.6454, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4675, grad_norm: 57.9136, il_score_sum: 63.5580, rl_score_sum: 64.8542, score_diff: -1.2962, il_win: 76.0000, rl_win: 211.5500
2025-09-24 10:59:26,997 - mmdet - INFO - Epoch [13][2780/3517]	lr: 2.503e-05, eta: 8:47:56, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1871, debug_std_frame_0: 0.2250, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.3029, debug_std_frame_3: 0.3568, debug_std_frame_4: 0.4132, debug_std_frame_5: 0.4730, loss_rl: -0.2556, loss_critic: 1.3546, loss_rl_bc: 0.0099, il_score: 0.6556, rl_score: 0.6640, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.5182, grad_norm: 59.0490, il_score_sum: 63.5580, rl_score_sum: 64.8542, score_diff: -1.2962, il_win: 76.0000, rl_win: 211.5500
2025-09-24 10:59:43,557 - mmdet - INFO - Epoch [13][2800/3517]	lr: 2.503e-05, eta: 8:47:41, time: 0.828, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.2083, debug_std_frame_0: 0.2269, debug_std_frame_1: 0.2557, debug_std_frame_2: 0.3094, debug_std_frame_3: 0.3668, debug_std_frame_4: 0.4220, debug_std_frame_5: 0.4846, loss_rl: -0.2568, loss_critic: 1.1963, loss_rl_bc: 0.0123, il_score: 0.6639, rl_score: 0.6982, prev_frame_loss_waypoint_0: 0.2188, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.4186, grad_norm: 60.4959, il_score_sum: 63.5171, rl_score_sum: 64.9312, score_diff: -1.4140, il_win: 76.0000, rl_win: 212.1500
2025-09-24 10:59:59,568 - mmdet - INFO - Epoch [13][2820/3517]	lr: 2.503e-05, eta: 8:47:25, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1972, debug_std_frame_0: 0.2279, debug_std_frame_1: 0.2564, debug_std_frame_2: 0.3112, debug_std_frame_3: 0.3682, debug_std_frame_4: 0.4231, debug_std_frame_5: 0.4841, loss_rl: -0.1823, loss_critic: 1.0705, loss_rl_bc: 0.0149, il_score: 0.6327, rl_score: 0.6435, prev_frame_loss_waypoint_0: 0.2111, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.3558, grad_norm: 62.1610, il_score_sum: 63.5171, rl_score_sum: 64.9312, score_diff: -1.4140, il_win: 76.0000, rl_win: 212.1500
2025-09-24 11:00:15,699 - mmdet - INFO - Epoch [13][2840/3517]	lr: 2.503e-05, eta: 8:47:09, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.2073, debug_std_frame_0: 0.2256, debug_std_frame_1: 0.2576, debug_std_frame_2: 0.3121, debug_std_frame_3: 0.3706, debug_std_frame_4: 0.4272, debug_std_frame_5: 0.4916, loss_rl: -0.1862, loss_critic: 1.2854, loss_rl_bc: 0.0193, il_score: 0.6116, rl_score: 0.6187, prev_frame_loss_waypoint_0: 0.2194, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5903, grad_norm: 49.0454, il_score_sum: 63.5171, rl_score_sum: 64.9312, score_diff: -1.4140, il_win: 76.0000, rl_win: 212.1500
2025-09-24 11:00:31,900 - mmdet - INFO - Epoch [13][2860/3517]	lr: 2.503e-05, eta: 8:46:53, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1808, debug_std_frame_0: 0.2251, debug_std_frame_1: 0.2535, debug_std_frame_2: 0.3036, debug_std_frame_3: 0.3570, debug_std_frame_4: 0.4114, debug_std_frame_5: 0.4731, loss_rl: -0.2483, loss_critic: 1.3312, loss_rl_bc: 0.0129, il_score: 0.6656, rl_score: 0.6631, prev_frame_loss_waypoint_0: 0.1959, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.5168, grad_norm: 49.7162, il_score_sum: 63.5171, rl_score_sum: 64.9312, score_diff: -1.4140, il_win: 76.0000, rl_win: 212.1500
2025-09-24 11:00:48,066 - mmdet - INFO - Epoch [13][2880/3517]	lr: 2.503e-05, eta: 8:46:37, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2345, debug_std_frame_0: 0.2326, debug_std_frame_1: 0.2689, debug_std_frame_2: 0.3269, debug_std_frame_3: 0.3859, debug_std_frame_4: 0.4447, debug_std_frame_5: 0.5084, loss_rl: -0.1644, loss_critic: 1.4077, loss_rl_bc: 0.0230, il_score: 0.5691, rl_score: 0.6210, prev_frame_loss_waypoint_0: 0.2435, prev_frame_loss_rl_bc_0: 0.0267, loss: 1.7985, grad_norm: 67.3245, il_score_sum: 63.5171, rl_score_sum: 64.9312, score_diff: -1.4140, il_win: 76.0000, rl_win: 212.1500
2025-09-24 11:01:04,514 - mmdet - INFO - Epoch [13][2900/3517]	lr: 2.503e-05, eta: 8:46:21, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.2025, debug_std_frame_0: 0.2608, debug_std_frame_1: 0.2930, debug_std_frame_2: 0.3379, debug_std_frame_3: 0.3876, debug_std_frame_4: 0.4356, debug_std_frame_5: 0.4938, loss_rl: -0.2192, loss_critic: 1.2882, loss_rl_bc: 0.0136, il_score: 0.5920, rl_score: 0.6355, prev_frame_loss_waypoint_0: 0.2345, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.5622, grad_norm: 77.8471, il_score_sum: 63.5047, rl_score_sum: 64.8928, score_diff: -1.3881, il_win: 76.0000, rl_win: 212.7500
2025-09-24 11:01:20,412 - mmdet - INFO - Epoch [13][2920/3517]	lr: 2.503e-05, eta: 8:46:05, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.2077, debug_std_frame_0: 0.2524, debug_std_frame_1: 0.2848, debug_std_frame_2: 0.3313, debug_std_frame_3: 0.3821, debug_std_frame_4: 0.4320, debug_std_frame_5: 0.4867, loss_rl: -0.2716, loss_critic: 1.4687, loss_rl_bc: 0.0141, il_score: 0.6429, rl_score: 0.6752, prev_frame_loss_waypoint_0: 0.2251, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.6869, grad_norm: 54.2428, il_score_sum: 63.5047, rl_score_sum: 64.8928, score_diff: -1.3881, il_win: 76.0000, rl_win: 212.7500
2025-09-24 11:01:36,581 - mmdet - INFO - Epoch [13][2940/3517]	lr: 2.503e-05, eta: 8:45:49, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1708, debug_std_frame_0: 0.2481, debug_std_frame_1: 0.2826, debug_std_frame_2: 0.3323, debug_std_frame_3: 0.3860, debug_std_frame_4: 0.4370, debug_std_frame_5: 0.4895, loss_rl: -0.2492, loss_critic: 1.4428, loss_rl_bc: 0.0097, il_score: 0.6328, rl_score: 0.6367, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.6098, grad_norm: 47.7412, il_score_sum: 63.5047, rl_score_sum: 64.8928, score_diff: -1.3881, il_win: 76.0000, rl_win: 212.7500
2025-09-24 11:01:52,709 - mmdet - INFO - Epoch [13][2960/3517]	lr: 2.503e-05, eta: 8:45:33, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1985, debug_std_frame_0: 0.2492, debug_std_frame_1: 0.2787, debug_std_frame_2: 0.3258, debug_std_frame_3: 0.3769, debug_std_frame_4: 0.4259, debug_std_frame_5: 0.4843, loss_rl: -0.2524, loss_critic: 1.2703, loss_rl_bc: 0.0120, il_score: 0.6238, rl_score: 0.6644, prev_frame_loss_waypoint_0: 0.1974, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.4673, grad_norm: 56.2347, il_score_sum: 63.5047, rl_score_sum: 64.8928, score_diff: -1.3881, il_win: 76.0000, rl_win: 212.7500
2025-09-24 11:02:08,789 - mmdet - INFO - Epoch [13][2980/3517]	lr: 2.503e-05, eta: 8:45:17, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1721, debug_std_frame_0: 0.2398, debug_std_frame_1: 0.2651, debug_std_frame_2: 0.3095, debug_std_frame_3: 0.3610, debug_std_frame_4: 0.4105, debug_std_frame_5: 0.4685, loss_rl: -0.2569, loss_critic: 1.4944, loss_rl_bc: 0.0060, il_score: 0.6267, rl_score: 0.6489, prev_frame_loss_waypoint_0: 0.2102, prev_frame_loss_rl_bc_0: 0.0328, loss: 1.6870, grad_norm: 44.6187, il_score_sum: 63.5047, rl_score_sum: 64.8928, score_diff: -1.3881, il_win: 76.0000, rl_win: 212.7500
2025-09-24 11:02:24,964 - mmdet - INFO - Epoch [13][3000/3517]	lr: 2.503e-05, eta: 8:45:01, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1893, debug_std_frame_0: 0.2396, debug_std_frame_1: 0.2710, debug_std_frame_2: 0.3281, debug_std_frame_3: 0.3856, debug_std_frame_4: 0.4412, debug_std_frame_5: 0.4976, loss_rl: -0.1822, loss_critic: 1.1963, loss_rl_bc: 0.0205, il_score: 0.6537, rl_score: 0.6375, prev_frame_loss_waypoint_0: 0.1967, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.4679, grad_norm: 50.7274, il_score_sum: 63.4599, rl_score_sum: 64.8761, score_diff: -1.4162, il_win: 76.0000, rl_win: 213.3500
2025-09-24 11:02:40,784 - mmdet - INFO - Epoch [13][3020/3517]	lr: 2.503e-05, eta: 8:44:44, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1729, debug_std_frame_0: 0.2483, debug_std_frame_1: 0.2771, debug_std_frame_2: 0.3338, debug_std_frame_3: 0.3891, debug_std_frame_4: 0.4400, debug_std_frame_5: 0.4977, loss_rl: -0.2195, loss_critic: 1.2949, loss_rl_bc: 0.0162, il_score: 0.6056, rl_score: 0.5962, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0155, loss: 1.4925, grad_norm: 47.3999, il_score_sum: 63.4599, rl_score_sum: 64.8761, score_diff: -1.4162, il_win: 76.0000, rl_win: 213.3500
2025-09-24 11:02:56,783 - mmdet - INFO - Epoch [13][3040/3517]	lr: 2.503e-05, eta: 8:44:28, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1915, debug_std_frame_0: 0.2464, debug_std_frame_1: 0.2757, debug_std_frame_2: 0.3263, debug_std_frame_3: 0.3801, debug_std_frame_4: 0.4306, debug_std_frame_5: 0.4928, loss_rl: -0.2265, loss_critic: 1.2849, loss_rl_bc: 0.0105, il_score: 0.6415, rl_score: 0.6759, prev_frame_loss_waypoint_0: 0.2173, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.5189, grad_norm: 60.5235, il_score_sum: 63.4599, rl_score_sum: 64.8761, score_diff: -1.4162, il_win: 76.0000, rl_win: 213.3500
2025-09-24 11:03:12,844 - mmdet - INFO - Epoch [13][3060/3517]	lr: 2.503e-05, eta: 8:44:12, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.1886, debug_std_frame_0: 0.2296, debug_std_frame_1: 0.2569, debug_std_frame_2: 0.3088, debug_std_frame_3: 0.3621, debug_std_frame_4: 0.4130, debug_std_frame_5: 0.4708, loss_rl: -0.2217, loss_critic: 1.2969, loss_rl_bc: 0.0124, il_score: 0.6589, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0179, loss: 1.5238, grad_norm: 58.7883, il_score_sum: 63.4599, rl_score_sum: 64.8761, score_diff: -1.4162, il_win: 76.0000, rl_win: 213.3500
2025-09-24 11:03:28,857 - mmdet - INFO - Epoch [13][3080/3517]	lr: 2.503e-05, eta: 8:43:56, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.2177, debug_std_frame_0: 0.2340, debug_std_frame_1: 0.2600, debug_std_frame_2: 0.3109, debug_std_frame_3: 0.3610, debug_std_frame_4: 0.4104, debug_std_frame_5: 0.4695, loss_rl: -0.1902, loss_critic: 1.4163, loss_rl_bc: 0.0250, il_score: 0.6150, rl_score: 0.6173, prev_frame_loss_waypoint_0: 0.2261, prev_frame_loss_rl_bc_0: 0.0197, loss: 1.7447, grad_norm: 68.5580, il_score_sum: 63.4599, rl_score_sum: 64.8761, score_diff: -1.4162, il_win: 76.0000, rl_win: 213.3500
2025-09-24 11:03:45,173 - mmdet - INFO - Epoch [13][3100/3517]	lr: 2.503e-05, eta: 8:43:40, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1792, debug_std_frame_0: 0.2412, debug_std_frame_1: 0.2648, debug_std_frame_2: 0.3091, debug_std_frame_3: 0.3538, debug_std_frame_4: 0.3990, debug_std_frame_5: 0.4491, loss_rl: -0.2938, loss_critic: 1.3186, loss_rl_bc: 0.0074, il_score: 0.6253, rl_score: 0.6782, prev_frame_loss_waypoint_0: 0.1807, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.4265, grad_norm: 47.6680, il_score_sum: 63.3539, rl_score_sum: 64.7382, score_diff: -1.3843, il_win: 76.0000, rl_win: 213.9500
2025-09-24 11:04:01,212 - mmdet - INFO - Epoch [13][3120/3517]	lr: 2.503e-05, eta: 8:43:24, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1857, debug_std_frame_0: 0.2309, debug_std_frame_1: 0.2567, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3521, debug_std_frame_4: 0.4005, debug_std_frame_5: 0.4527, loss_rl: -0.2620, loss_critic: 1.1405, loss_rl_bc: 0.0086, il_score: 0.6159, rl_score: 0.6506, prev_frame_loss_waypoint_0: 0.2069, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.3163, grad_norm: 52.6210, il_score_sum: 63.3539, rl_score_sum: 64.7382, score_diff: -1.3843, il_win: 76.0000, rl_win: 213.9500
2025-09-24 11:04:17,301 - mmdet - INFO - Epoch [13][3140/3517]	lr: 2.503e-05, eta: 8:43:08, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1703, debug_std_frame_0: 0.2178, debug_std_frame_1: 0.2396, debug_std_frame_2: 0.2887, debug_std_frame_3: 0.3384, debug_std_frame_4: 0.3865, debug_std_frame_5: 0.4461, loss_rl: -0.2727, loss_critic: 1.5038, loss_rl_bc: 0.0088, il_score: 0.6539, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1799, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.6242, grad_norm: 44.8810, il_score_sum: 63.3539, rl_score_sum: 64.7382, score_diff: -1.3843, il_win: 76.0000, rl_win: 213.9500
2025-09-24 11:04:33,323 - mmdet - INFO - Epoch [13][3160/3517]	lr: 2.503e-05, eta: 8:42:52, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1893, debug_std_frame_0: 0.2241, debug_std_frame_1: 0.2462, debug_std_frame_2: 0.2959, debug_std_frame_3: 0.3487, debug_std_frame_4: 0.4015, debug_std_frame_5: 0.4610, loss_rl: -0.1965, loss_critic: 1.2354, loss_rl_bc: 0.0092, il_score: 0.6214, rl_score: 0.6515, prev_frame_loss_waypoint_0: 0.2106, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4878, grad_norm: 56.2481, il_score_sum: 63.3539, rl_score_sum: 64.7382, score_diff: -1.3843, il_win: 76.0000, rl_win: 213.9500
2025-09-24 11:04:49,173 - mmdet - INFO - Epoch [13][3180/3517]	lr: 2.503e-05, eta: 8:42:36, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1858, debug_std_frame_0: 0.2189, debug_std_frame_1: 0.2417, debug_std_frame_2: 0.2898, debug_std_frame_3: 0.3423, debug_std_frame_4: 0.3957, debug_std_frame_5: 0.4571, loss_rl: -0.2443, loss_critic: 1.5378, loss_rl_bc: 0.0103, il_score: 0.6620, rl_score: 0.6584, prev_frame_loss_waypoint_0: 0.1959, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.7241, grad_norm: 49.6070, il_score_sum: 63.3539, rl_score_sum: 64.7382, score_diff: -1.3843, il_win: 76.0000, rl_win: 213.9500
2025-09-24 11:05:05,444 - mmdet - INFO - Epoch [13][3200/3517]	lr: 2.503e-05, eta: 8:42:20, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0310, loss_waypoint: 0.1928, debug_std_frame_0: 0.2197, debug_std_frame_1: 0.2459, debug_std_frame_2: 0.3011, debug_std_frame_3: 0.3587, debug_std_frame_4: 0.4181, debug_std_frame_5: 0.4818, loss_rl: -0.1992, loss_critic: 1.4875, loss_rl_bc: 0.0116, il_score: 0.6446, rl_score: 0.6346, prev_frame_loss_waypoint_0: 0.2015, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.7389, grad_norm: 50.4153, il_score_sum: 63.3560, rl_score_sum: 64.6394, score_diff: -1.2834, il_win: 76.0000, rl_win: 214.5500
2025-09-24 11:05:21,435 - mmdet - INFO - Epoch [13][3220/3517]	lr: 2.503e-05, eta: 8:42:04, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1683, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2383, debug_std_frame_2: 0.2883, debug_std_frame_3: 0.3430, debug_std_frame_4: 0.3967, debug_std_frame_5: 0.4548, loss_rl: -0.2638, loss_critic: 1.1419, loss_rl_bc: 0.0039, il_score: 0.6539, rl_score: 0.6826, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.2705, grad_norm: 56.0778, il_score_sum: 63.3560, rl_score_sum: 64.6394, score_diff: -1.2834, il_win: 76.0000, rl_win: 214.5500
2025-09-24 11:05:37,299 - mmdet - INFO - Epoch [13][3240/3517]	lr: 2.503e-05, eta: 8:41:47, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1870, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2382, debug_std_frame_2: 0.2920, debug_std_frame_3: 0.3525, debug_std_frame_4: 0.4126, debug_std_frame_5: 0.4778, loss_rl: -0.2304, loss_critic: 1.2104, loss_rl_bc: 0.0144, il_score: 0.6330, rl_score: 0.6466, prev_frame_loss_waypoint_0: 0.1980, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.4199, grad_norm: 34.5271, il_score_sum: 63.3560, rl_score_sum: 64.6394, score_diff: -1.2834, il_win: 76.0000, rl_win: 214.5500
2025-09-24 11:05:53,184 - mmdet - INFO - Epoch [13][3260/3517]	lr: 2.503e-05, eta: 8:41:31, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.2077, debug_std_frame_0: 0.2270, debug_std_frame_1: 0.2531, debug_std_frame_2: 0.3031, debug_std_frame_3: 0.3601, debug_std_frame_4: 0.4170, debug_std_frame_5: 0.4799, loss_rl: -0.1699, loss_critic: 1.3531, loss_rl_bc: 0.0198, il_score: 0.5869, rl_score: 0.5914, prev_frame_loss_waypoint_0: 0.2208, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.6764, grad_norm: 60.2574, il_score_sum: 63.3560, rl_score_sum: 64.6394, score_diff: -1.2834, il_win: 76.0000, rl_win: 214.5500
2025-09-24 11:06:09,231 - mmdet - INFO - Epoch [13][3280/3517]	lr: 2.503e-05, eta: 8:41:15, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1713, debug_std_frame_0: 0.2273, debug_std_frame_1: 0.2552, debug_std_frame_2: 0.3077, debug_std_frame_3: 0.3665, debug_std_frame_4: 0.4249, debug_std_frame_5: 0.4885, loss_rl: -0.2257, loss_critic: 1.2879, loss_rl_bc: 0.0111, il_score: 0.6501, rl_score: 0.6598, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.4899, grad_norm: 52.8223, il_score_sum: 63.3560, rl_score_sum: 64.6394, score_diff: -1.2834, il_win: 76.0000, rl_win: 214.5500
2025-09-24 11:06:25,392 - mmdet - INFO - Epoch [13][3300/3517]	lr: 2.503e-05, eta: 8:40:59, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1975, debug_std_frame_0: 0.2267, debug_std_frame_1: 0.2527, debug_std_frame_2: 0.3047, debug_std_frame_3: 0.3616, debug_std_frame_4: 0.4186, debug_std_frame_5: 0.4801, loss_rl: -0.2739, loss_critic: 1.3717, loss_rl_bc: 0.0135, il_score: 0.6171, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.5648, grad_norm: 57.2374, il_score_sum: 63.3343, rl_score_sum: 64.6443, score_diff: -1.3100, il_win: 76.0000, rl_win: 215.1500
2025-09-24 11:06:41,320 - mmdet - INFO - Epoch [13][3320/3517]	lr: 2.503e-05, eta: 8:40:43, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1840, debug_std_frame_0: 0.2310, debug_std_frame_1: 0.2659, debug_std_frame_2: 0.3271, debug_std_frame_3: 0.3842, debug_std_frame_4: 0.4411, debug_std_frame_5: 0.5002, loss_rl: -0.2607, loss_critic: 1.4036, loss_rl_bc: 0.0134, il_score: 0.6493, rl_score: 0.6669, prev_frame_loss_waypoint_0: 0.2287, prev_frame_loss_rl_bc_0: 0.0350, loss: 1.6329, grad_norm: 50.6984, il_score_sum: 63.3343, rl_score_sum: 64.6443, score_diff: -1.3100, il_win: 76.0000, rl_win: 215.1500
2025-09-24 11:06:57,206 - mmdet - INFO - Epoch [13][3340/3517]	lr: 2.503e-05, eta: 8:40:27, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1648, debug_std_frame_0: 0.2352, debug_std_frame_1: 0.2680, debug_std_frame_2: 0.3198, debug_std_frame_3: 0.3719, debug_std_frame_4: 0.4237, debug_std_frame_5: 0.4792, loss_rl: -0.2451, loss_critic: 1.2186, loss_rl_bc: 0.0071, il_score: 0.6483, rl_score: 0.6669, prev_frame_loss_waypoint_0: 0.1979, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.3857, grad_norm: 42.3893, il_score_sum: 63.3343, rl_score_sum: 64.6443, score_diff: -1.3100, il_win: 76.0000, rl_win: 215.1500
2025-09-24 11:07:13,053 - mmdet - INFO - Epoch [13][3360/3517]	lr: 2.503e-05, eta: 8:40:10, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1887, debug_std_frame_0: 0.2303, debug_std_frame_1: 0.2588, debug_std_frame_2: 0.3113, debug_std_frame_3: 0.3645, debug_std_frame_4: 0.4156, debug_std_frame_5: 0.4694, loss_rl: -0.2618, loss_critic: 1.2262, loss_rl_bc: 0.0102, il_score: 0.6532, rl_score: 0.6921, prev_frame_loss_waypoint_0: 0.2143, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.4171, grad_norm: 61.4395, il_score_sum: 63.3343, rl_score_sum: 64.6443, score_diff: -1.3100, il_win: 76.0000, rl_win: 215.1500
2025-09-24 11:07:29,054 - mmdet - INFO - Epoch [13][3380/3517]	lr: 2.503e-05, eta: 8:39:54, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1527, debug_std_frame_0: 0.2232, debug_std_frame_1: 0.2463, debug_std_frame_2: 0.2905, debug_std_frame_3: 0.3424, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4394, loss_rl: -0.2940, loss_critic: 1.6368, loss_rl_bc: 0.0026, il_score: 0.6437, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.1713, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.7021, grad_norm: 45.3604, il_score_sum: 63.3343, rl_score_sum: 64.6443, score_diff: -1.3100, il_win: 76.0000, rl_win: 215.1500
2025-09-24 11:07:45,249 - mmdet - INFO - Epoch [13][3400/3517]	lr: 2.503e-05, eta: 8:39:38, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1759, debug_std_frame_0: 0.2233, debug_std_frame_1: 0.2421, debug_std_frame_2: 0.2851, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4331, loss_rl: -0.2556, loss_critic: 1.4654, loss_rl_bc: 0.0078, il_score: 0.6310, rl_score: 0.6658, prev_frame_loss_waypoint_0: 0.2013, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.6310, grad_norm: 60.7833, il_score_sum: 63.3990, rl_score_sum: 64.6888, score_diff: -1.2898, il_win: 76.0000, rl_win: 215.7500
2025-09-24 11:08:01,038 - mmdet - INFO - Epoch [13][3420/3517]	lr: 2.503e-05, eta: 8:39:22, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1967, debug_std_frame_0: 0.2192, debug_std_frame_1: 0.2418, debug_std_frame_2: 0.2884, debug_std_frame_3: 0.3422, debug_std_frame_4: 0.3896, debug_std_frame_5: 0.4422, loss_rl: -0.2286, loss_critic: 1.1928, loss_rl_bc: 0.0124, il_score: 0.6563, rl_score: 0.6848, prev_frame_loss_waypoint_0: 0.2017, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.4114, grad_norm: 39.7042, il_score_sum: 63.3990, rl_score_sum: 64.6888, score_diff: -1.2898, il_win: 76.0000, rl_win: 215.7500
2025-09-24 11:08:16,970 - mmdet - INFO - Epoch [13][3440/3517]	lr: 2.503e-05, eta: 8:39:06, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1903, debug_std_frame_0: 0.2253, debug_std_frame_1: 0.2504, debug_std_frame_2: 0.3001, debug_std_frame_3: 0.3568, debug_std_frame_4: 0.4067, debug_std_frame_5: 0.4590, loss_rl: -0.2596, loss_critic: 1.2995, loss_rl_bc: 0.0116, il_score: 0.6162, rl_score: 0.6610, prev_frame_loss_waypoint_0: 0.2008, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.4827, grad_norm: 52.5928, il_score_sum: 63.3990, rl_score_sum: 64.6888, score_diff: -1.2898, il_win: 76.0000, rl_win: 215.7500
2025-09-24 11:08:32,956 - mmdet - INFO - Epoch [13][3460/3517]	lr: 2.503e-05, eta: 8:38:50, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.2389, debug_std_frame_0: 0.2331, debug_std_frame_1: 0.2612, debug_std_frame_2: 0.3062, debug_std_frame_3: 0.3633, debug_std_frame_4: 0.4166, debug_std_frame_5: 0.4708, loss_rl: -0.2348, loss_critic: 1.3347, loss_rl_bc: 0.0217, il_score: 0.6203, rl_score: 0.6580, prev_frame_loss_waypoint_0: 0.2392, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.6471, grad_norm: 84.4635, il_score_sum: 63.3990, rl_score_sum: 64.6888, score_diff: -1.2898, il_win: 76.0000, rl_win: 215.7500
2025-09-24 11:08:48,814 - mmdet - INFO - Epoch [13][3480/3517]	lr: 2.503e-05, eta: 8:38:33, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1782, debug_std_frame_0: 0.2372, debug_std_frame_1: 0.2685, debug_std_frame_2: 0.3215, debug_std_frame_3: 0.3785, debug_std_frame_4: 0.4307, debug_std_frame_5: 0.4848, loss_rl: -0.2378, loss_critic: 1.3728, loss_rl_bc: 0.0090, il_score: 0.6444, rl_score: 0.6562, prev_frame_loss_waypoint_0: 0.2032, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.5683, grad_norm: 53.1817, il_score_sum: 63.3990, rl_score_sum: 64.6888, score_diff: -1.2898, il_win: 76.0000, rl_win: 215.7500
2025-09-24 11:09:04,884 - mmdet - INFO - Epoch [13][3500/3517]	lr: 2.503e-05, eta: 8:38:17, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1888, debug_std_frame_0: 0.2351, debug_std_frame_1: 0.2670, debug_std_frame_2: 0.3187, debug_std_frame_3: 0.3787, debug_std_frame_4: 0.4353, debug_std_frame_5: 0.4916, loss_rl: -0.2482, loss_critic: 1.4107, loss_rl_bc: 0.0095, il_score: 0.6432, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.2093, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.6097, grad_norm: 60.3265, il_score_sum: 63.4278, rl_score_sum: 64.8716, score_diff: -1.4438, il_win: 76.0000, rl_win: 216.4000
2025-09-24 11:09:17,841 - mmdet - INFO - Saving checkpoint at 13 epochs
2025-09-24 11:11:51,986 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 11:11:51,987 - mmdet - INFO - Epoch(val) [13][753]	plan_L2_1s: 0.3539, plan_L2_2s: 0.6793, plan_L2_3s: 1.1051, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0024, plan_obj_box_col_2s: 0.0024, plan_obj_box_col_3s: 0.0059, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3335, plan_L2_2s_rl_actor: 0.6510, plan_L2_3s_rl_actor: 1.0762, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0045, plan_obj_box_col_2s_rl_actor: 0.0064, plan_obj_box_col_3s_rl_actor: 0.0104, fut_valid_flag_rl_actor: 1.0000
2025-09-24 11:12:16,299 - mmdet - INFO - Epoch [14][20/3517]	lr: 2.177e-05, eta: 8:37:43, time: 1.214, data_time: 0.351, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1594, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2897, debug_std_frame_3: 0.3432, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4499, loss_rl: -0.3046, loss_critic: 1.5022, loss_rl_bc: 0.0079, il_score: 0.6594, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1772, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.5747, grad_norm: 42.0871
2025-09-24 11:12:32,561 - mmdet - INFO - Epoch [14][40/3517]	lr: 2.177e-05, eta: 8:37:27, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1889, debug_std_frame_0: 0.2296, debug_std_frame_1: 0.2532, debug_std_frame_2: 0.2979, debug_std_frame_3: 0.3535, debug_std_frame_4: 0.4074, debug_std_frame_5: 0.4617, loss_rl: -0.2629, loss_critic: 1.2960, loss_rl_bc: 0.0131, il_score: 0.6610, rl_score: 0.6720, prev_frame_loss_waypoint_0: 0.2062, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.4812, grad_norm: 55.4036
2025-09-24 11:12:49,203 - mmdet - INFO - Epoch [14][60/3517]	lr: 2.177e-05, eta: 8:37:11, time: 0.832, data_time: 0.015, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1712, debug_std_frame_0: 0.2269, debug_std_frame_1: 0.2569, debug_std_frame_2: 0.3066, debug_std_frame_3: 0.3653, debug_std_frame_4: 0.4248, debug_std_frame_5: 0.4793, loss_rl: -0.2338, loss_critic: 1.7138, loss_rl_bc: 0.0101, il_score: 0.6393, rl_score: 0.6470, prev_frame_loss_waypoint_0: 0.2012, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.8994, grad_norm: 50.2783
2025-09-24 11:13:06,215 - mmdet - INFO - Epoch [14][80/3517]	lr: 2.177e-05, eta: 8:36:56, time: 0.851, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1858, debug_std_frame_0: 0.2247, debug_std_frame_1: 0.2518, debug_std_frame_2: 0.3004, debug_std_frame_3: 0.3557, debug_std_frame_4: 0.4135, debug_std_frame_5: 0.4713, loss_rl: -0.2449, loss_critic: 1.3456, loss_rl_bc: 0.0129, il_score: 0.6276, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.2067, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.5458, grad_norm: 55.3927, il_score_sum: 64.2596, rl_score_sum: 65.5298, score_diff: -1.2701, il_win: 76.0000, rl_win: 225.0000
2025-09-24 11:13:22,783 - mmdet - INFO - Epoch [14][100/3517]	lr: 2.177e-05, eta: 8:36:41, time: 0.828, data_time: 0.014, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.2190, debug_std_frame_0: 0.2285, debug_std_frame_1: 0.2531, debug_std_frame_2: 0.3013, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4157, debug_std_frame_5: 0.4756, loss_rl: -0.2129, loss_critic: 1.0622, loss_rl_bc: 0.0205, il_score: 0.6453, rl_score: 0.6547, prev_frame_loss_waypoint_0: 0.1941, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.3256, grad_norm: 58.5340, il_score_sum: 64.2596, rl_score_sum: 65.5298, score_diff: -1.2701, il_win: 76.0000, rl_win: 225.0000
2025-09-24 11:13:39,039 - mmdet - INFO - Epoch [14][120/3517]	lr: 2.177e-05, eta: 8:36:25, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1890, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2625, debug_std_frame_2: 0.3159, debug_std_frame_3: 0.3754, debug_std_frame_4: 0.4370, debug_std_frame_5: 0.4979, loss_rl: -0.2160, loss_critic: 1.4141, loss_rl_bc: 0.0195, il_score: 0.6193, rl_score: 0.6233, prev_frame_loss_waypoint_0: 0.2105, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.6662, grad_norm: 53.3920, il_score_sum: 64.2596, rl_score_sum: 65.5298, score_diff: -1.2701, il_win: 76.0000, rl_win: 225.0000
2025-09-24 11:13:55,405 - mmdet - INFO - Epoch [14][140/3517]	lr: 2.177e-05, eta: 8:36:09, time: 0.818, data_time: 0.014, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1733, debug_std_frame_0: 0.2362, debug_std_frame_1: 0.2702, debug_std_frame_2: 0.3234, debug_std_frame_3: 0.3830, debug_std_frame_4: 0.4452, debug_std_frame_5: 0.5052, loss_rl: -0.2202, loss_critic: 1.2168, loss_rl_bc: 0.0117, il_score: 0.6168, rl_score: 0.6409, prev_frame_loss_waypoint_0: 0.2033, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.4347, grad_norm: 43.9204, il_score_sum: 64.2596, rl_score_sum: 65.5298, score_diff: -1.2701, il_win: 76.0000, rl_win: 225.0000
2025-09-24 11:14:11,803 - mmdet - INFO - Epoch [14][160/3517]	lr: 2.177e-05, eta: 8:35:53, time: 0.820, data_time: 0.014, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1808, debug_std_frame_0: 0.2391, debug_std_frame_1: 0.2716, debug_std_frame_2: 0.3238, debug_std_frame_3: 0.3816, debug_std_frame_4: 0.4401, debug_std_frame_5: 0.5004, loss_rl: -0.2802, loss_critic: 1.3547, loss_rl_bc: 0.0080, il_score: 0.6225, rl_score: 0.6602, prev_frame_loss_waypoint_0: 0.1947, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.4967, grad_norm: 53.6627, il_score_sum: 64.2596, rl_score_sum: 65.5298, score_diff: -1.2701, il_win: 76.0000, rl_win: 225.0000
2025-09-24 11:14:28,412 - mmdet - INFO - Epoch [14][180/3517]	lr: 2.177e-05, eta: 8:35:37, time: 0.831, data_time: 0.014, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1949, debug_std_frame_0: 0.2391, debug_std_frame_1: 0.2670, debug_std_frame_2: 0.3151, debug_std_frame_3: 0.3658, debug_std_frame_4: 0.4194, debug_std_frame_5: 0.4769, loss_rl: -0.2402, loss_critic: 1.1360, loss_rl_bc: 0.0158, il_score: 0.6534, rl_score: 0.6573, prev_frame_loss_waypoint_0: 0.2140, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.3657, grad_norm: 53.1383, il_score_sum: 63.6376, rl_score_sum: 65.1368, score_diff: -1.4992, il_win: 76.0000, rl_win: 225.5000
2025-09-24 11:14:44,449 - mmdet - INFO - Epoch [14][200/3517]	lr: 2.177e-05, eta: 8:35:21, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1911, debug_std_frame_0: 0.2433, debug_std_frame_1: 0.2777, debug_std_frame_2: 0.3315, debug_std_frame_3: 0.3883, debug_std_frame_4: 0.4500, debug_std_frame_5: 0.5137, loss_rl: -0.1937, loss_critic: 1.2948, loss_rl_bc: 0.0168, il_score: 0.6467, rl_score: 0.6384, prev_frame_loss_waypoint_0: 0.2132, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.5738, grad_norm: 53.5781, il_score_sum: 63.6376, rl_score_sum: 65.1368, score_diff: -1.4992, il_win: 76.0000, rl_win: 225.5000
2025-09-24 11:15:00,874 - mmdet - INFO - Epoch [14][220/3517]	lr: 2.177e-05, eta: 8:35:06, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1822, debug_std_frame_0: 0.2408, debug_std_frame_1: 0.2723, debug_std_frame_2: 0.3227, debug_std_frame_3: 0.3763, debug_std_frame_4: 0.4338, debug_std_frame_5: 0.4915, loss_rl: -0.2730, loss_critic: 1.2223, loss_rl_bc: 0.0105, il_score: 0.6629, rl_score: 0.6821, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.3746, grad_norm: 38.7570, il_score_sum: 63.6376, rl_score_sum: 65.1368, score_diff: -1.4992, il_win: 76.0000, rl_win: 225.5000
2025-09-24 11:15:17,248 - mmdet - INFO - Epoch [14][240/3517]	lr: 2.177e-05, eta: 8:34:50, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1773, debug_std_frame_0: 0.2363, debug_std_frame_1: 0.2668, debug_std_frame_2: 0.3147, debug_std_frame_3: 0.3665, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4745, loss_rl: -0.2624, loss_critic: 1.3467, loss_rl_bc: 0.0066, il_score: 0.6284, rl_score: 0.6630, prev_frame_loss_waypoint_0: 0.1999, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.5038, grad_norm: 58.8550, il_score_sum: 63.6376, rl_score_sum: 65.1368, score_diff: -1.4992, il_win: 76.0000, rl_win: 225.5000
2025-09-24 11:15:33,445 - mmdet - INFO - Epoch [14][260/3517]	lr: 2.177e-05, eta: 8:34:34, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1677, debug_std_frame_0: 0.2294, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3042, debug_std_frame_3: 0.3558, debug_std_frame_4: 0.4098, debug_std_frame_5: 0.4614, loss_rl: -0.2803, loss_critic: 1.0988, loss_rl_bc: 0.0061, il_score: 0.6863, rl_score: 0.7019, prev_frame_loss_waypoint_0: 0.1732, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.1953, grad_norm: 44.5469, il_score_sum: 63.6376, rl_score_sum: 65.1368, score_diff: -1.4992, il_win: 76.0000, rl_win: 225.5000
2025-09-24 11:15:50,028 - mmdet - INFO - Epoch [14][280/3517]	lr: 2.177e-05, eta: 8:34:18, time: 0.829, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1656, debug_std_frame_0: 0.2267, debug_std_frame_1: 0.2507, debug_std_frame_2: 0.2969, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.3980, debug_std_frame_5: 0.4483, loss_rl: -0.2911, loss_critic: 1.1415, loss_rl_bc: 0.0041, il_score: 0.6626, rl_score: 0.6952, prev_frame_loss_waypoint_0: 0.1914, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.2474, grad_norm: 47.0004, il_score_sum: 64.3605, rl_score_sum: 65.9751, score_diff: -1.6147, il_win: 76.0000, rl_win: 226.0000
2025-09-24 11:16:06,117 - mmdet - INFO - Epoch [14][300/3517]	lr: 2.177e-05, eta: 8:34:02, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1875, debug_std_frame_0: 0.2215, debug_std_frame_1: 0.2484, debug_std_frame_2: 0.2991, debug_std_frame_3: 0.3536, debug_std_frame_4: 0.4094, debug_std_frame_5: 0.4654, loss_rl: -0.2307, loss_critic: 1.4049, loss_rl_bc: 0.0108, il_score: 0.6344, rl_score: 0.6610, prev_frame_loss_waypoint_0: 0.2159, prev_frame_loss_rl_bc_0: 0.0220, loss: 1.6360, grad_norm: 49.7653, il_score_sum: 64.3605, rl_score_sum: 65.9751, score_diff: -1.6147, il_win: 76.0000, rl_win: 226.0000
2025-09-24 11:16:22,383 - mmdet - INFO - Epoch [14][320/3517]	lr: 2.177e-05, eta: 8:33:46, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1592, debug_std_frame_0: 0.2172, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.2989, debug_std_frame_3: 0.3518, debug_std_frame_4: 0.4070, debug_std_frame_5: 0.4624, loss_rl: -0.2512, loss_critic: 1.5530, loss_rl_bc: 0.0049, il_score: 0.6035, rl_score: 0.6308, prev_frame_loss_waypoint_0: 0.1858, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.6865, grad_norm: 40.9782, il_score_sum: 64.3605, rl_score_sum: 65.9751, score_diff: -1.6147, il_win: 76.0000, rl_win: 226.0000
2025-09-24 11:16:38,624 - mmdet - INFO - Epoch [14][340/3517]	lr: 2.177e-05, eta: 8:33:30, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1984, debug_std_frame_0: 0.2185, debug_std_frame_1: 0.2453, debug_std_frame_2: 0.2965, debug_std_frame_3: 0.3493, debug_std_frame_4: 0.4027, debug_std_frame_5: 0.4572, loss_rl: -0.2430, loss_critic: 1.3222, loss_rl_bc: 0.0143, il_score: 0.6430, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.2160, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.5468, grad_norm: 58.3892, il_score_sum: 64.3605, rl_score_sum: 65.9751, score_diff: -1.6147, il_win: 76.0000, rl_win: 226.0000
2025-09-24 11:16:54,699 - mmdet - INFO - Epoch [14][360/3517]	lr: 2.177e-05, eta: 8:33:14, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2015, debug_std_frame_0: 0.2211, debug_std_frame_1: 0.2500, debug_std_frame_2: 0.3057, debug_std_frame_3: 0.3645, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4820, loss_rl: -0.2303, loss_critic: 1.3293, loss_rl_bc: 0.0165, il_score: 0.6207, rl_score: 0.6397, prev_frame_loss_waypoint_0: 0.1955, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.5519, grad_norm: 61.4727, il_score_sum: 64.3605, rl_score_sum: 65.9751, score_diff: -1.6147, il_win: 76.0000, rl_win: 226.0000
2025-09-24 11:17:11,457 - mmdet - INFO - Epoch [14][380/3517]	lr: 2.177e-05, eta: 8:32:59, time: 0.838, data_time: 0.014, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.2213, debug_std_frame_0: 0.2240, debug_std_frame_1: 0.2539, debug_std_frame_2: 0.3072, debug_std_frame_3: 0.3642, debug_std_frame_4: 0.4233, debug_std_frame_5: 0.4821, loss_rl: -0.1888, loss_critic: 1.2595, loss_rl_bc: 0.0188, il_score: 0.5661, rl_score: 0.6215, prev_frame_loss_waypoint_0: 0.2353, prev_frame_loss_rl_bc_0: 0.0230, loss: 1.5955, grad_norm: 55.0571, il_score_sum: 63.6148, rl_score_sum: 65.5504, score_diff: -1.9356, il_win: 76.0000, rl_win: 226.5000
2025-09-24 11:17:27,468 - mmdet - INFO - Epoch [14][400/3517]	lr: 2.177e-05, eta: 8:32:43, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1837, debug_std_frame_0: 0.2292, debug_std_frame_1: 0.2620, debug_std_frame_2: 0.3111, debug_std_frame_3: 0.3601, debug_std_frame_4: 0.4142, debug_std_frame_5: 0.4661, loss_rl: -0.2810, loss_critic: 1.3067, loss_rl_bc: 0.0094, il_score: 0.6679, rl_score: 0.6741, prev_frame_loss_waypoint_0: 0.1912, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.4504, grad_norm: 41.3395, il_score_sum: 63.6148, rl_score_sum: 65.5504, score_diff: -1.9356, il_win: 76.0000, rl_win: 226.5000
2025-09-24 11:17:43,728 - mmdet - INFO - Epoch [14][420/3517]	lr: 2.177e-05, eta: 8:32:27, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1830, debug_std_frame_0: 0.2314, debug_std_frame_1: 0.2660, debug_std_frame_2: 0.3204, debug_std_frame_3: 0.3729, debug_std_frame_4: 0.4300, debug_std_frame_5: 0.4869, loss_rl: -0.2357, loss_critic: 1.2048, loss_rl_bc: 0.0099, il_score: 0.6553, rl_score: 0.6522, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.3978, grad_norm: 37.3835, il_score_sum: 63.6148, rl_score_sum: 65.5504, score_diff: -1.9356, il_win: 76.0000, rl_win: 226.5000
2025-09-24 11:17:59,760 - mmdet - INFO - Epoch [14][440/3517]	lr: 2.177e-05, eta: 8:32:11, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1955, debug_std_frame_0: 0.2331, debug_std_frame_1: 0.2667, debug_std_frame_2: 0.3234, debug_std_frame_3: 0.3799, debug_std_frame_4: 0.4407, debug_std_frame_5: 0.5000, loss_rl: -0.2498, loss_critic: 1.3163, loss_rl_bc: 0.0130, il_score: 0.6370, rl_score: 0.6417, prev_frame_loss_waypoint_0: 0.2134, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.5305, grad_norm: 48.2466, il_score_sum: 63.6148, rl_score_sum: 65.5504, score_diff: -1.9356, il_win: 76.0000, rl_win: 226.5000
2025-09-24 11:18:16,098 - mmdet - INFO - Epoch [14][460/3517]	lr: 2.177e-05, eta: 8:31:55, time: 0.817, data_time: 0.014, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1714, debug_std_frame_0: 0.2245, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3124, debug_std_frame_3: 0.3675, debug_std_frame_4: 0.4257, debug_std_frame_5: 0.4840, loss_rl: -0.2577, loss_critic: 1.4295, loss_rl_bc: 0.0059, il_score: 0.6839, rl_score: 0.6852, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.5680, grad_norm: 53.7205, il_score_sum: 63.6148, rl_score_sum: 65.5504, score_diff: -1.9356, il_win: 76.0000, rl_win: 226.5000
2025-09-24 11:18:32,492 - mmdet - INFO - Epoch [14][480/3517]	lr: 2.177e-05, eta: 8:31:39, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1877, debug_std_frame_0: 0.2190, debug_std_frame_1: 0.2493, debug_std_frame_2: 0.3048, debug_std_frame_3: 0.3633, debug_std_frame_4: 0.4253, debug_std_frame_5: 0.4859, loss_rl: -0.2524, loss_critic: 1.3495, loss_rl_bc: 0.0136, il_score: 0.6271, rl_score: 0.6343, prev_frame_loss_waypoint_0: 0.2006, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5438, grad_norm: 36.6564, il_score_sum: 63.9545, rl_score_sum: 65.5854, score_diff: -1.6309, il_win: 76.0000, rl_win: 226.8000
2025-09-24 11:18:48,481 - mmdet - INFO - Epoch [14][500/3517]	lr: 2.177e-05, eta: 8:31:23, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1878, debug_std_frame_0: 0.2253, debug_std_frame_1: 0.2577, debug_std_frame_2: 0.3147, debug_std_frame_3: 0.3741, debug_std_frame_4: 0.4388, debug_std_frame_5: 0.4974, loss_rl: -0.2209, loss_critic: 1.6636, loss_rl_bc: 0.0121, il_score: 0.6254, rl_score: 0.6293, prev_frame_loss_waypoint_0: 0.1996, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.8825, grad_norm: 43.2228, il_score_sum: 63.9545, rl_score_sum: 65.5854, score_diff: -1.6309, il_win: 76.0000, rl_win: 226.8000
2025-09-24 11:19:04,513 - mmdet - INFO - Epoch [14][520/3517]	lr: 2.177e-05, eta: 8:31:07, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.2032, debug_std_frame_0: 0.2198, debug_std_frame_1: 0.2475, debug_std_frame_2: 0.3022, debug_std_frame_3: 0.3619, debug_std_frame_4: 0.4229, debug_std_frame_5: 0.4870, loss_rl: -0.2271, loss_critic: 1.3992, loss_rl_bc: 0.0155, il_score: 0.6245, rl_score: 0.6589, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.6412, grad_norm: 52.6411, il_score_sum: 63.9545, rl_score_sum: 65.5854, score_diff: -1.6309, il_win: 76.0000, rl_win: 226.8000
2025-09-24 11:19:20,916 - mmdet - INFO - Epoch [14][540/3517]	lr: 2.177e-05, eta: 8:30:51, time: 0.820, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1845, debug_std_frame_0: 0.2218, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3606, debug_std_frame_4: 0.4224, debug_std_frame_5: 0.4860, loss_rl: -0.2875, loss_critic: 1.1883, loss_rl_bc: 0.0073, il_score: 0.6672, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.3059, grad_norm: 41.6245, il_score_sum: 63.9545, rl_score_sum: 65.5854, score_diff: -1.6309, il_win: 76.0000, rl_win: 226.8000
2025-09-24 11:19:36,908 - mmdet - INFO - Epoch [14][560/3517]	lr: 2.177e-05, eta: 8:30:35, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1907, debug_std_frame_0: 0.2225, debug_std_frame_1: 0.2499, debug_std_frame_2: 0.3043, debug_std_frame_3: 0.3618, debug_std_frame_4: 0.4235, debug_std_frame_5: 0.4857, loss_rl: -0.1854, loss_critic: 1.3571, loss_rl_bc: 0.0185, il_score: 0.6480, rl_score: 0.6254, prev_frame_loss_waypoint_0: 0.2007, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.6272, grad_norm: 63.9173, il_score_sum: 63.9545, rl_score_sum: 65.5854, score_diff: -1.6309, il_win: 76.0000, rl_win: 226.8000
2025-09-24 11:19:53,428 - mmdet - INFO - Epoch [14][580/3517]	lr: 2.177e-05, eta: 8:30:19, time: 0.826, data_time: 0.014, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1975, debug_std_frame_0: 0.2206, debug_std_frame_1: 0.2464, debug_std_frame_2: 0.2991, debug_std_frame_3: 0.3548, debug_std_frame_4: 0.4142, debug_std_frame_5: 0.4748, loss_rl: -0.2376, loss_critic: 1.1816, loss_rl_bc: 0.0130, il_score: 0.6317, rl_score: 0.6540, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.3941, grad_norm: 47.8308, il_score_sum: 64.0099, rl_score_sum: 65.5614, score_diff: -1.5515, il_win: 76.0000, rl_win: 227.1667
2025-09-24 11:20:09,267 - mmdet - INFO - Epoch [14][600/3517]	lr: 2.177e-05, eta: 8:30:03, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.2017, debug_std_frame_0: 0.2204, debug_std_frame_1: 0.2490, debug_std_frame_2: 0.3032, debug_std_frame_3: 0.3610, debug_std_frame_4: 0.4235, debug_std_frame_5: 0.4866, loss_rl: -0.2074, loss_critic: 1.3792, loss_rl_bc: 0.0157, il_score: 0.6089, rl_score: 0.6355, prev_frame_loss_waypoint_0: 0.1940, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.6220, grad_norm: 47.6025, il_score_sum: 64.0099, rl_score_sum: 65.5614, score_diff: -1.5515, il_win: 76.0000, rl_win: 227.1667
2025-09-24 11:20:25,518 - mmdet - INFO - Epoch [14][620/3517]	lr: 2.177e-05, eta: 8:29:47, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1977, debug_std_frame_0: 0.2188, debug_std_frame_1: 0.2461, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3596, debug_std_frame_4: 0.4185, debug_std_frame_5: 0.4790, loss_rl: -0.2315, loss_critic: 1.5042, loss_rl_bc: 0.0176, il_score: 0.6130, rl_score: 0.6434, prev_frame_loss_waypoint_0: 0.2174, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.7546, grad_norm: 53.8689, il_score_sum: 64.0099, rl_score_sum: 65.5614, score_diff: -1.5515, il_win: 76.0000, rl_win: 227.1667
2025-09-24 11:20:41,684 - mmdet - INFO - Epoch [14][640/3517]	lr: 2.177e-05, eta: 8:29:31, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1700, debug_std_frame_0: 0.2300, debug_std_frame_1: 0.2616, debug_std_frame_2: 0.3127, debug_std_frame_3: 0.3646, debug_std_frame_4: 0.4228, debug_std_frame_5: 0.4798, loss_rl: -0.2473, loss_critic: 1.5828, loss_rl_bc: 0.0129, il_score: 0.6610, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.1701, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.7252, grad_norm: 44.9231, il_score_sum: 64.0099, rl_score_sum: 65.5614, score_diff: -1.5515, il_win: 76.0000, rl_win: 227.1667
2025-09-24 11:20:57,762 - mmdet - INFO - Epoch [14][660/3517]	lr: 2.177e-05, eta: 8:29:15, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1978, debug_std_frame_0: 0.2303, debug_std_frame_1: 0.2647, debug_std_frame_2: 0.3210, debug_std_frame_3: 0.3759, debug_std_frame_4: 0.4349, debug_std_frame_5: 0.4971, loss_rl: -0.2705, loss_critic: 1.3581, loss_rl_bc: 0.0134, il_score: 0.6334, rl_score: 0.6521, prev_frame_loss_waypoint_0: 0.2114, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5542, grad_norm: 42.8424, il_score_sum: 64.0099, rl_score_sum: 65.5614, score_diff: -1.5515, il_win: 76.0000, rl_win: 227.1667
2025-09-24 11:21:14,022 - mmdet - INFO - Epoch [14][680/3517]	lr: 2.177e-05, eta: 8:28:59, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1805, debug_std_frame_0: 0.2234, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3551, debug_std_frame_4: 0.4108, debug_std_frame_5: 0.4709, loss_rl: -0.2855, loss_critic: 1.2056, loss_rl_bc: 0.0035, il_score: 0.6364, rl_score: 0.6782, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3306, grad_norm: 64.2467, il_score_sum: 63.8564, rl_score_sum: 65.5227, score_diff: -1.6663, il_win: 76.0000, rl_win: 227.5714
2025-09-24 11:21:30,093 - mmdet - INFO - Epoch [14][700/3517]	lr: 2.177e-05, eta: 8:28:43, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1971, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2394, debug_std_frame_2: 0.2882, debug_std_frame_3: 0.3410, debug_std_frame_4: 0.3924, debug_std_frame_5: 0.4488, loss_rl: -0.2883, loss_critic: 1.5247, loss_rl_bc: 0.0119, il_score: 0.6373, rl_score: 0.6744, prev_frame_loss_waypoint_0: 0.1936, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.6800, grad_norm: 51.0406, il_score_sum: 63.8564, rl_score_sum: 65.5227, score_diff: -1.6663, il_win: 76.0000, rl_win: 227.5714
2025-09-24 11:21:46,455 - mmdet - INFO - Epoch [14][720/3517]	lr: 2.177e-05, eta: 8:28:27, time: 0.818, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1716, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2410, debug_std_frame_2: 0.2885, debug_std_frame_3: 0.3406, debug_std_frame_4: 0.3920, debug_std_frame_5: 0.4472, loss_rl: -0.2584, loss_critic: 1.3417, loss_rl_bc: 0.0085, il_score: 0.6602, rl_score: 0.6849, prev_frame_loss_waypoint_0: 0.1943, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.4952, grad_norm: 42.5689, il_score_sum: 63.8564, rl_score_sum: 65.5227, score_diff: -1.6663, il_win: 76.0000, rl_win: 227.5714
2025-09-24 11:22:02,495 - mmdet - INFO - Epoch [14][740/3517]	lr: 2.177e-05, eta: 8:28:11, time: 0.802, data_time: 0.014, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1905, debug_std_frame_0: 0.2215, debug_std_frame_1: 0.2559, debug_std_frame_2: 0.3081, debug_std_frame_3: 0.3650, debug_std_frame_4: 0.4235, debug_std_frame_5: 0.4803, loss_rl: -0.2229, loss_critic: 1.3543, loss_rl_bc: 0.0146, il_score: 0.5977, rl_score: 0.6342, prev_frame_loss_waypoint_0: 0.2071, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.5837, grad_norm: 42.1605, il_score_sum: 63.8564, rl_score_sum: 65.5227, score_diff: -1.6663, il_win: 76.0000, rl_win: 227.5714
2025-09-24 11:22:18,557 - mmdet - INFO - Epoch [14][760/3517]	lr: 2.177e-05, eta: 8:27:55, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1771, debug_std_frame_0: 0.2205, debug_std_frame_1: 0.2520, debug_std_frame_2: 0.3029, debug_std_frame_3: 0.3604, debug_std_frame_4: 0.4198, debug_std_frame_5: 0.4806, loss_rl: -0.2908, loss_critic: 1.1384, loss_rl_bc: 0.0067, il_score: 0.6803, rl_score: 0.7035, prev_frame_loss_waypoint_0: 0.1848, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.2480, grad_norm: 43.0235, il_score_sum: 63.8564, rl_score_sum: 65.5227, score_diff: -1.6663, il_win: 76.0000, rl_win: 227.5714
2025-09-24 11:22:34,957 - mmdet - INFO - Epoch [14][780/3517]	lr: 2.177e-05, eta: 8:27:39, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1638, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2431, debug_std_frame_2: 0.2964, debug_std_frame_3: 0.3540, debug_std_frame_4: 0.4121, debug_std_frame_5: 0.4684, loss_rl: -0.2328, loss_critic: 1.6937, loss_rl_bc: 0.0081, il_score: 0.6523, rl_score: 0.6415, prev_frame_loss_waypoint_0: 0.1964, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.8676, grad_norm: 46.4997, il_score_sum: 63.9401, rl_score_sum: 65.6764, score_diff: -1.7363, il_win: 76.0000, rl_win: 228.0000
2025-09-24 11:22:51,030 - mmdet - INFO - Epoch [14][800/3517]	lr: 2.177e-05, eta: 8:27:23, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1954, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2483, debug_std_frame_2: 0.3067, debug_std_frame_3: 0.3698, debug_std_frame_4: 0.4337, debug_std_frame_5: 0.4965, loss_rl: -0.2422, loss_critic: 1.2805, loss_rl_bc: 0.0125, il_score: 0.6568, rl_score: 0.6741, prev_frame_loss_waypoint_0: 0.1963, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.4825, grad_norm: 42.0697, il_score_sum: 63.9401, rl_score_sum: 65.6764, score_diff: -1.7363, il_win: 76.0000, rl_win: 228.0000
2025-09-24 11:23:07,117 - mmdet - INFO - Epoch [14][820/3517]	lr: 2.177e-05, eta: 8:27:07, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1581, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2384, debug_std_frame_2: 0.2917, debug_std_frame_3: 0.3508, debug_std_frame_4: 0.4107, debug_std_frame_5: 0.4705, loss_rl: -0.2933, loss_critic: 1.4921, loss_rl_bc: 0.0059, il_score: 0.6654, rl_score: 0.6724, prev_frame_loss_waypoint_0: 0.1755, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.5744, grad_norm: 58.0726, il_score_sum: 63.9401, rl_score_sum: 65.6764, score_diff: -1.7363, il_win: 76.0000, rl_win: 228.0000
2025-09-24 11:23:23,204 - mmdet - INFO - Epoch [14][840/3517]	lr: 2.177e-05, eta: 8:26:51, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1977, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.3040, debug_std_frame_3: 0.3695, debug_std_frame_4: 0.4357, debug_std_frame_5: 0.5020, loss_rl: -0.1862, loss_critic: 1.1190, loss_rl_bc: 0.0160, il_score: 0.6407, rl_score: 0.6370, prev_frame_loss_waypoint_0: 0.2176, prev_frame_loss_rl_bc_0: 0.0238, loss: 1.4166, grad_norm: 58.6327, il_score_sum: 63.9401, rl_score_sum: 65.6764, score_diff: -1.7363, il_win: 76.0000, rl_win: 228.0000
2025-09-24 11:23:39,552 - mmdet - INFO - Epoch [14][860/3517]	lr: 2.177e-05, eta: 8:26:35, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1893, debug_std_frame_0: 0.2198, debug_std_frame_1: 0.2526, debug_std_frame_2: 0.3027, debug_std_frame_3: 0.3611, debug_std_frame_4: 0.4210, debug_std_frame_5: 0.4814, loss_rl: -0.2437, loss_critic: 1.3375, loss_rl_bc: 0.0092, il_score: 0.6480, rl_score: 0.6681, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.5209, grad_norm: 56.3917, il_score_sum: 63.9401, rl_score_sum: 65.6764, score_diff: -1.7363, il_win: 76.0000, rl_win: 228.0000
2025-09-24 11:23:56,103 - mmdet - INFO - Epoch [14][880/3517]	lr: 2.177e-05, eta: 8:26:19, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1967, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2490, debug_std_frame_2: 0.2941, debug_std_frame_3: 0.3466, debug_std_frame_4: 0.4029, debug_std_frame_5: 0.4586, loss_rl: -0.2209, loss_critic: 1.7859, loss_rl_bc: 0.0194, il_score: 0.6210, rl_score: 0.6310, prev_frame_loss_waypoint_0: 0.2161, prev_frame_loss_rl_bc_0: 0.0244, loss: 2.0477, grad_norm: 62.3507, il_score_sum: 64.0126, rl_score_sum: 65.6708, score_diff: -1.6582, il_win: 76.0000, rl_win: 228.4444
2025-09-24 11:24:12,058 - mmdet - INFO - Epoch [14][900/3517]	lr: 2.177e-05, eta: 8:26:03, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1605, debug_std_frame_0: 0.2295, debug_std_frame_1: 0.2619, debug_std_frame_2: 0.3073, debug_std_frame_3: 0.3561, debug_std_frame_4: 0.4095, debug_std_frame_5: 0.4593, loss_rl: -0.2625, loss_critic: 1.3289, loss_rl_bc: 0.0082, il_score: 0.6657, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1806, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.4507, grad_norm: 40.8562, il_score_sum: 64.0126, rl_score_sum: 65.6708, score_diff: -1.6582, il_win: 76.0000, rl_win: 228.4444
2025-09-24 11:24:28,048 - mmdet - INFO - Epoch [14][920/3517]	lr: 2.177e-05, eta: 8:25:47, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1765, debug_std_frame_0: 0.2431, debug_std_frame_1: 0.2771, debug_std_frame_2: 0.3213, debug_std_frame_3: 0.3721, debug_std_frame_4: 0.4278, debug_std_frame_5: 0.4822, loss_rl: -0.2954, loss_critic: 1.4677, loss_rl_bc: 0.0092, il_score: 0.6398, rl_score: 0.6605, prev_frame_loss_waypoint_0: 0.1960, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.5958, grad_norm: 57.2663, il_score_sum: 64.0126, rl_score_sum: 65.6708, score_diff: -1.6582, il_win: 76.0000, rl_win: 228.4444
2025-09-24 11:24:44,383 - mmdet - INFO - Epoch [14][940/3517]	lr: 2.177e-05, eta: 8:25:31, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1845, debug_std_frame_0: 0.2250, debug_std_frame_1: 0.2571, debug_std_frame_2: 0.3027, debug_std_frame_3: 0.3546, debug_std_frame_4: 0.4102, debug_std_frame_5: 0.4651, loss_rl: -0.3254, loss_critic: 1.5816, loss_rl_bc: 0.0120, il_score: 0.6662, rl_score: 0.6928, prev_frame_loss_waypoint_0: 0.1876, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.6738, grad_norm: 48.6959, il_score_sum: 64.0126, rl_score_sum: 65.6708, score_diff: -1.6582, il_win: 76.0000, rl_win: 228.4444
2025-09-24 11:25:00,345 - mmdet - INFO - Epoch [14][960/3517]	lr: 2.177e-05, eta: 8:25:15, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.2090, debug_std_frame_0: 0.2246, debug_std_frame_1: 0.2578, debug_std_frame_2: 0.3051, debug_std_frame_3: 0.3573, debug_std_frame_4: 0.4142, debug_std_frame_5: 0.4701, loss_rl: -0.2578, loss_critic: 1.2505, loss_rl_bc: 0.0112, il_score: 0.6195, rl_score: 0.6735, prev_frame_loss_waypoint_0: 0.2222, prev_frame_loss_rl_bc_0: 0.0149, loss: 1.4791, grad_norm: 65.3532, il_score_sum: 64.0126, rl_score_sum: 65.6708, score_diff: -1.6582, il_win: 76.0000, rl_win: 228.4444
2025-09-24 11:25:16,512 - mmdet - INFO - Epoch [14][980/3517]	lr: 2.177e-05, eta: 8:24:59, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.2078, debug_std_frame_0: 0.2248, debug_std_frame_1: 0.2568, debug_std_frame_2: 0.3045, debug_std_frame_3: 0.3566, debug_std_frame_4: 0.4127, debug_std_frame_5: 0.4682, loss_rl: -0.2219, loss_critic: 1.3595, loss_rl_bc: 0.0147, il_score: 0.5940, rl_score: 0.6394, prev_frame_loss_waypoint_0: 0.2183, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.6224, grad_norm: 69.2530, il_score_sum: 63.9921, rl_score_sum: 65.7958, score_diff: -1.8037, il_win: 76.0000, rl_win: 228.9000
2025-09-24 11:25:32,518 - mmdet - INFO - Epoch [14][1000/3517]	lr: 2.177e-05, eta: 8:24:43, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0306, loss_waypoint: 0.1923, debug_std_frame_0: 0.2320, debug_std_frame_1: 0.2684, debug_std_frame_2: 0.3220, debug_std_frame_3: 0.3817, debug_std_frame_4: 0.4449, debug_std_frame_5: 0.5027, loss_rl: -0.2265, loss_critic: 1.2506, loss_rl_bc: 0.0166, il_score: 0.6483, rl_score: 0.6525, prev_frame_loss_waypoint_0: 0.2198, prev_frame_loss_rl_bc_0: 0.0213, loss: 1.5046, grad_norm: 69.1794, il_score_sum: 63.9921, rl_score_sum: 65.7958, score_diff: -1.8037, il_win: 76.0000, rl_win: 228.9000
2025-09-24 11:25:48,770 - mmdet - INFO - Epoch [14][1020/3517]	lr: 2.177e-05, eta: 8:24:27, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1804, debug_std_frame_0: 0.2386, debug_std_frame_1: 0.2711, debug_std_frame_2: 0.3205, debug_std_frame_3: 0.3722, debug_std_frame_4: 0.4265, debug_std_frame_5: 0.4812, loss_rl: -0.2240, loss_critic: 1.3417, loss_rl_bc: 0.0113, il_score: 0.6189, rl_score: 0.6553, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.5463, grad_norm: 48.3441, il_score_sum: 63.9921, rl_score_sum: 65.7958, score_diff: -1.8037, il_win: 76.0000, rl_win: 228.9000
2025-09-24 11:26:04,651 - mmdet - INFO - Epoch [14][1040/3517]	lr: 2.177e-05, eta: 8:24:11, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1746, debug_std_frame_0: 0.2309, debug_std_frame_1: 0.2623, debug_std_frame_2: 0.3161, debug_std_frame_3: 0.3712, debug_std_frame_4: 0.4316, debug_std_frame_5: 0.4946, loss_rl: -0.2498, loss_critic: 1.4829, loss_rl_bc: 0.0102, il_score: 0.6653, rl_score: 0.6698, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.6384, grad_norm: 38.5175, il_score_sum: 63.9921, rl_score_sum: 65.7958, score_diff: -1.8037, il_win: 76.0000, rl_win: 228.9000
2025-09-24 11:26:20,597 - mmdet - INFO - Epoch [14][1060/3517]	lr: 2.177e-05, eta: 8:23:55, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1880, debug_std_frame_0: 0.2255, debug_std_frame_1: 0.2549, debug_std_frame_2: 0.3046, debug_std_frame_3: 0.3597, debug_std_frame_4: 0.4193, debug_std_frame_5: 0.4827, loss_rl: -0.2609, loss_critic: 1.5405, loss_rl_bc: 0.0115, il_score: 0.6142, rl_score: 0.6369, prev_frame_loss_waypoint_0: 0.1990, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.7161, grad_norm: 55.8755, il_score_sum: 63.9921, rl_score_sum: 65.7958, score_diff: -1.8037, il_win: 76.0000, rl_win: 228.9000
2025-09-24 11:26:36,815 - mmdet - INFO - Epoch [14][1080/3517]	lr: 2.177e-05, eta: 8:23:39, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1808, debug_std_frame_0: 0.2253, debug_std_frame_1: 0.2483, debug_std_frame_2: 0.2982, debug_std_frame_3: 0.3526, debug_std_frame_4: 0.4106, debug_std_frame_5: 0.4720, loss_rl: -0.2210, loss_critic: 1.3285, loss_rl_bc: 0.0090, il_score: 0.6306, rl_score: 0.6565, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.5187, grad_norm: 51.8983, il_score_sum: 63.9549, rl_score_sum: 65.7601, score_diff: -1.8052, il_win: 76.0000, rl_win: 229.3636
2025-09-24 11:26:52,752 - mmdet - INFO - Epoch [14][1100/3517]	lr: 2.177e-05, eta: 8:23:22, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1801, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2305, debug_std_frame_2: 0.2769, debug_std_frame_3: 0.3281, debug_std_frame_4: 0.3838, debug_std_frame_5: 0.4384, loss_rl: -0.2685, loss_critic: 1.1851, loss_rl_bc: 0.0070, il_score: 0.6873, rl_score: 0.6967, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3253, grad_norm: 45.8325, il_score_sum: 63.9549, rl_score_sum: 65.7601, score_diff: -1.8052, il_win: 76.0000, rl_win: 229.3636
2025-09-24 11:27:08,711 - mmdet - INFO - Epoch [14][1120/3517]	lr: 2.177e-05, eta: 8:23:06, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1827, debug_std_frame_0: 0.2206, debug_std_frame_1: 0.2438, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3496, debug_std_frame_4: 0.4098, debug_std_frame_5: 0.4724, loss_rl: -0.2152, loss_critic: 1.3410, loss_rl_bc: 0.0151, il_score: 0.6465, rl_score: 0.6368, prev_frame_loss_waypoint_0: 0.2005, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.5705, grad_norm: 44.6248, il_score_sum: 63.9549, rl_score_sum: 65.7601, score_diff: -1.8052, il_win: 76.0000, rl_win: 229.3636
2025-09-24 11:27:24,639 - mmdet - INFO - Epoch [14][1140/3517]	lr: 2.177e-05, eta: 8:22:50, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1836, debug_std_frame_0: 0.2222, debug_std_frame_1: 0.2465, debug_std_frame_2: 0.2957, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4077, debug_std_frame_5: 0.4662, loss_rl: -0.2782, loss_critic: 1.2494, loss_rl_bc: 0.0083, il_score: 0.6866, rl_score: 0.7068, prev_frame_loss_waypoint_0: 0.1973, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.4005, grad_norm: 64.9232, il_score_sum: 63.9549, rl_score_sum: 65.7601, score_diff: -1.8052, il_win: 76.0000, rl_win: 229.3636
2025-09-24 11:27:40,404 - mmdet - INFO - Epoch [14][1160/3517]	lr: 2.177e-05, eta: 8:22:34, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1824, debug_std_frame_0: 0.2220, debug_std_frame_1: 0.2533, debug_std_frame_2: 0.3051, debug_std_frame_3: 0.3622, debug_std_frame_4: 0.4206, debug_std_frame_5: 0.4781, loss_rl: -0.2554, loss_critic: 1.4283, loss_rl_bc: 0.0085, il_score: 0.6442, rl_score: 0.6646, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.5985, grad_norm: 52.7343, il_score_sum: 63.9549, rl_score_sum: 65.7601, score_diff: -1.8052, il_win: 76.0000, rl_win: 229.3636
2025-09-24 11:27:56,682 - mmdet - INFO - Epoch [14][1180/3517]	lr: 2.177e-05, eta: 8:22:18, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.2030, debug_std_frame_0: 0.2203, debug_std_frame_1: 0.2497, debug_std_frame_2: 0.2980, debug_std_frame_3: 0.3504, debug_std_frame_4: 0.4071, debug_std_frame_5: 0.4632, loss_rl: -0.2640, loss_critic: 1.2826, loss_rl_bc: 0.0130, il_score: 0.6233, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.2126, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.4840, grad_norm: 50.1245, il_score_sum: 64.0893, rl_score_sum: 65.8784, score_diff: -1.7891, il_win: 76.0000, rl_win: 229.8333
2025-09-24 11:28:12,393 - mmdet - INFO - Epoch [14][1200/3517]	lr: 2.177e-05, eta: 8:22:01, time: 0.786, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1741, debug_std_frame_0: 0.2243, debug_std_frame_1: 0.2543, debug_std_frame_2: 0.3036, debug_std_frame_3: 0.3592, debug_std_frame_4: 0.4176, debug_std_frame_5: 0.4762, loss_rl: -0.2483, loss_critic: 1.3793, loss_rl_bc: 0.0065, il_score: 0.6248, rl_score: 0.6426, prev_frame_loss_waypoint_0: 0.1990, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.5467, grad_norm: 55.3271, il_score_sum: 64.0893, rl_score_sum: 65.8784, score_diff: -1.7891, il_win: 76.0000, rl_win: 229.8333
2025-09-24 11:28:28,416 - mmdet - INFO - Epoch [14][1220/3517]	lr: 2.177e-05, eta: 8:21:45, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2095, debug_std_frame_0: 0.2255, debug_std_frame_1: 0.2552, debug_std_frame_2: 0.3026, debug_std_frame_3: 0.3584, debug_std_frame_4: 0.4201, debug_std_frame_5: 0.4811, loss_rl: -0.2320, loss_critic: 1.1651, loss_rl_bc: 0.0168, il_score: 0.6672, rl_score: 0.6827, prev_frame_loss_waypoint_0: 0.2073, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.4038, grad_norm: 57.1564, il_score_sum: 64.0893, rl_score_sum: 65.8784, score_diff: -1.7891, il_win: 76.0000, rl_win: 229.8333
2025-09-24 11:28:44,294 - mmdet - INFO - Epoch [14][1240/3517]	lr: 2.177e-05, eta: 8:21:29, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1807, debug_std_frame_0: 0.2247, debug_std_frame_1: 0.2520, debug_std_frame_2: 0.2975, debug_std_frame_3: 0.3510, debug_std_frame_4: 0.4077, debug_std_frame_5: 0.4658, loss_rl: -0.2492, loss_critic: 1.2230, loss_rl_bc: 0.0081, il_score: 0.6406, rl_score: 0.6499, prev_frame_loss_waypoint_0: 0.2060, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.4077, grad_norm: 44.5707, il_score_sum: 64.0893, rl_score_sum: 65.8784, score_diff: -1.7891, il_win: 76.0000, rl_win: 229.8333
2025-09-24 11:29:00,365 - mmdet - INFO - Epoch [14][1260/3517]	lr: 2.177e-05, eta: 8:21:13, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1828, debug_std_frame_0: 0.2180, debug_std_frame_1: 0.2424, debug_std_frame_2: 0.2875, debug_std_frame_3: 0.3439, debug_std_frame_4: 0.4017, debug_std_frame_5: 0.4642, loss_rl: -0.2544, loss_critic: 1.5091, loss_rl_bc: 0.0095, il_score: 0.6305, rl_score: 0.6608, prev_frame_loss_waypoint_0: 0.1840, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.6659, grad_norm: 44.4353, il_score_sum: 64.0893, rl_score_sum: 65.8784, score_diff: -1.7891, il_win: 76.0000, rl_win: 229.8333
2025-09-24 11:29:16,629 - mmdet - INFO - Epoch [14][1280/3517]	lr: 2.177e-05, eta: 8:20:57, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1898, debug_std_frame_0: 0.2187, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2805, debug_std_frame_3: 0.3317, debug_std_frame_4: 0.3856, debug_std_frame_5: 0.4407, loss_rl: -0.2805, loss_critic: 1.3034, loss_rl_bc: 0.0163, il_score: 0.6070, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.1880, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.4514, grad_norm: 57.5005, il_score_sum: 64.0547, rl_score_sum: 65.8944, score_diff: -1.8397, il_win: 76.0000, rl_win: 230.3077
2025-09-24 11:29:32,473 - mmdet - INFO - Epoch [14][1300/3517]	lr: 2.177e-05, eta: 8:20:41, time: 0.792, data_time: 0.014, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1579, debug_std_frame_0: 0.2213, debug_std_frame_1: 0.2434, debug_std_frame_2: 0.2858, debug_std_frame_3: 0.3402, debug_std_frame_4: 0.3950, debug_std_frame_5: 0.4547, loss_rl: -0.2875, loss_critic: 1.2259, loss_rl_bc: 0.0035, il_score: 0.7351, rl_score: 0.7144, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.3152, grad_norm: 52.0388, il_score_sum: 64.0547, rl_score_sum: 65.8944, score_diff: -1.8397, il_win: 76.0000, rl_win: 230.3077
2025-09-24 11:29:48,328 - mmdet - INFO - Epoch [14][1320/3517]	lr: 2.177e-05, eta: 8:20:25, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1810, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2380, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3908, debug_std_frame_5: 0.4544, loss_rl: -0.2668, loss_critic: 1.3429, loss_rl_bc: 0.0072, il_score: 0.6636, rl_score: 0.6926, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.4928, grad_norm: 57.2065, il_score_sum: 64.0547, rl_score_sum: 65.8944, score_diff: -1.8397, il_win: 76.0000, rl_win: 230.3077
2025-09-24 11:30:04,489 - mmdet - INFO - Epoch [14][1340/3517]	lr: 2.177e-05, eta: 8:20:09, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1898, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3810, debug_std_frame_5: 0.4405, loss_rl: -0.2588, loss_critic: 1.3600, loss_rl_bc: 0.0080, il_score: 0.6430, rl_score: 0.6758, prev_frame_loss_waypoint_0: 0.2085, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.5482, grad_norm: 70.6860, il_score_sum: 64.0547, rl_score_sum: 65.8944, score_diff: -1.8397, il_win: 76.0000, rl_win: 230.3077
2025-09-24 11:30:20,500 - mmdet - INFO - Epoch [14][1360/3517]	lr: 2.177e-05, eta: 8:19:53, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1997, debug_std_frame_0: 0.2182, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2883, debug_std_frame_3: 0.3446, debug_std_frame_4: 0.4006, debug_std_frame_5: 0.4606, loss_rl: -0.2298, loss_critic: 1.4306, loss_rl_bc: 0.0146, il_score: 0.6293, rl_score: 0.6425, prev_frame_loss_waypoint_0: 0.2081, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6626, grad_norm: 52.9744, il_score_sum: 64.0547, rl_score_sum: 65.8944, score_diff: -1.8397, il_win: 76.0000, rl_win: 230.3077
2025-09-24 11:30:36,752 - mmdet - INFO - Epoch [14][1380/3517]	lr: 2.177e-05, eta: 8:19:37, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1937, debug_std_frame_0: 0.2249, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.3020, debug_std_frame_3: 0.3598, debug_std_frame_4: 0.4179, debug_std_frame_5: 0.4809, loss_rl: -0.2380, loss_critic: 1.3386, loss_rl_bc: 0.0131, il_score: 0.6218, rl_score: 0.6346, prev_frame_loss_waypoint_0: 0.2199, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.5676, grad_norm: 61.6136, il_score_sum: 64.1636, rl_score_sum: 65.9769, score_diff: -1.8133, il_win: 76.0000, rl_win: 230.7857
2025-09-24 11:30:52,451 - mmdet - INFO - Epoch [14][1400/3517]	lr: 2.177e-05, eta: 8:19:20, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1758, debug_std_frame_0: 0.2245, debug_std_frame_1: 0.2496, debug_std_frame_2: 0.2952, debug_std_frame_3: 0.3476, debug_std_frame_4: 0.4034, debug_std_frame_5: 0.4613, loss_rl: -0.2696, loss_critic: 1.0795, loss_rl_bc: 0.0065, il_score: 0.6703, rl_score: 0.7050, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.2325, grad_norm: 46.9328, il_score_sum: 64.1636, rl_score_sum: 65.9769, score_diff: -1.8133, il_win: 76.0000, rl_win: 230.7857
2025-09-24 11:31:08,418 - mmdet - INFO - Epoch [14][1420/3517]	lr: 2.177e-05, eta: 8:19:04, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1880, debug_std_frame_0: 0.2189, debug_std_frame_1: 0.2418, debug_std_frame_2: 0.2967, debug_std_frame_3: 0.3547, debug_std_frame_4: 0.4161, debug_std_frame_5: 0.4736, loss_rl: -0.1976, loss_critic: 1.2337, loss_rl_bc: 0.0608, il_score: 0.6447, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.1980, prev_frame_loss_rl_bc_0: 0.0543, loss: 1.5642, grad_norm: 49.5021, il_score_sum: 64.1636, rl_score_sum: 65.9769, score_diff: -1.8133, il_win: 76.0000, rl_win: 230.7857
2025-09-24 11:31:24,228 - mmdet - INFO - Epoch [14][1440/3517]	lr: 2.177e-05, eta: 8:18:48, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1856, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2430, debug_std_frame_2: 0.2929, debug_std_frame_3: 0.3520, debug_std_frame_4: 0.4143, debug_std_frame_5: 0.4750, loss_rl: -0.2120, loss_critic: 1.0929, loss_rl_bc: 0.0065, il_score: 0.6217, rl_score: 0.6688, prev_frame_loss_waypoint_0: 0.2189, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.3327, grad_norm: 65.1863, il_score_sum: 64.1636, rl_score_sum: 65.9769, score_diff: -1.8133, il_win: 76.0000, rl_win: 230.7857
2025-09-24 11:31:40,276 - mmdet - INFO - Epoch [14][1460/3517]	lr: 2.177e-05, eta: 8:18:32, time: 0.804, data_time: 0.015, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1865, debug_std_frame_0: 0.2157, debug_std_frame_1: 0.2368, debug_std_frame_2: 0.2863, debug_std_frame_3: 0.3430, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4678, loss_rl: -0.2437, loss_critic: 1.4297, loss_rl_bc: 0.0112, il_score: 0.6758, rl_score: 0.6642, prev_frame_loss_waypoint_0: 0.1949, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.6189, grad_norm: 51.3523, il_score_sum: 64.1636, rl_score_sum: 65.9769, score_diff: -1.8133, il_win: 76.0000, rl_win: 230.7857
2025-09-24 11:31:56,504 - mmdet - INFO - Epoch [14][1480/3517]	lr: 2.177e-05, eta: 8:18:16, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1882, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2456, debug_std_frame_2: 0.2946, debug_std_frame_3: 0.3519, debug_std_frame_4: 0.4130, debug_std_frame_5: 0.4772, loss_rl: -0.1999, loss_critic: 1.3925, loss_rl_bc: 0.0136, il_score: 0.6328, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.1940, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.6279, grad_norm: 54.2872, il_score_sum: 64.2140, rl_score_sum: 66.0484, score_diff: -1.8344, il_win: 76.0000, rl_win: 231.2667
2025-09-24 11:32:12,500 - mmdet - INFO - Epoch [14][1500/3517]	lr: 2.177e-05, eta: 8:18:00, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1887, debug_std_frame_0: 0.2153, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.2927, debug_std_frame_3: 0.3509, debug_std_frame_4: 0.4113, debug_std_frame_5: 0.4725, loss_rl: -0.2413, loss_critic: 1.5782, loss_rl_bc: 0.0102, il_score: 0.6439, rl_score: 0.6536, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.7682, grad_norm: 50.2015, il_score_sum: 64.2140, rl_score_sum: 66.0484, score_diff: -1.8344, il_win: 76.0000, rl_win: 231.2667
2025-09-24 11:32:28,541 - mmdet - INFO - Epoch [14][1520/3517]	lr: 2.177e-05, eta: 8:17:44, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1775, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2908, debug_std_frame_3: 0.3500, debug_std_frame_4: 0.4105, debug_std_frame_5: 0.4768, loss_rl: -0.2170, loss_critic: 1.1981, loss_rl_bc: 0.0132, il_score: 0.6516, rl_score: 0.6594, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.4072, grad_norm: 42.4627, il_score_sum: 64.2140, rl_score_sum: 66.0484, score_diff: -1.8344, il_win: 76.0000, rl_win: 231.2667
2025-09-24 11:32:44,489 - mmdet - INFO - Epoch [14][1540/3517]	lr: 2.177e-05, eta: 8:17:27, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1617, debug_std_frame_0: 0.2216, debug_std_frame_1: 0.2509, debug_std_frame_2: 0.3002, debug_std_frame_3: 0.3568, debug_std_frame_4: 0.4193, debug_std_frame_5: 0.4866, loss_rl: -0.2102, loss_critic: 1.5834, loss_rl_bc: 0.0077, il_score: 0.6473, rl_score: 0.6376, prev_frame_loss_waypoint_0: 0.1966, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.7795, grad_norm: 53.9309, il_score_sum: 64.2140, rl_score_sum: 66.0484, score_diff: -1.8344, il_win: 76.0000, rl_win: 231.2667
2025-09-24 11:33:00,447 - mmdet - INFO - Epoch [14][1560/3517]	lr: 2.177e-05, eta: 8:17:11, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1799, debug_std_frame_0: 0.2141, debug_std_frame_1: 0.2383, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3342, debug_std_frame_4: 0.3884, debug_std_frame_5: 0.4483, loss_rl: -0.2183, loss_critic: 1.3789, loss_rl_bc: 0.0098, il_score: 0.6518, rl_score: 0.6575, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.5719, grad_norm: 47.3600, il_score_sum: 64.2140, rl_score_sum: 66.0484, score_diff: -1.8344, il_win: 76.0000, rl_win: 231.2667
2025-09-24 11:33:16,763 - mmdet - INFO - Epoch [14][1580/3517]	lr: 2.177e-05, eta: 8:16:55, time: 0.816, data_time: 0.014, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1765, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2419, debug_std_frame_2: 0.2907, debug_std_frame_3: 0.3489, debug_std_frame_4: 0.4088, debug_std_frame_5: 0.4720, loss_rl: -0.2264, loss_critic: 1.4550, loss_rl_bc: 0.0103, il_score: 0.6485, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.6565, grad_norm: 61.3160, il_score_sum: 64.2606, rl_score_sum: 66.0267, score_diff: -1.7661, il_win: 76.0000, rl_win: 231.6875
2025-09-24 11:33:32,636 - mmdet - INFO - Epoch [14][1600/3517]	lr: 2.177e-05, eta: 8:16:39, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1874, debug_std_frame_0: 0.2140, debug_std_frame_1: 0.2425, debug_std_frame_2: 0.2903, debug_std_frame_3: 0.3482, debug_std_frame_4: 0.4056, debug_std_frame_5: 0.4684, loss_rl: -0.2257, loss_critic: 1.2208, loss_rl_bc: 0.0117, il_score: 0.6593, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.2140, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.4541, grad_norm: 54.8237, il_score_sum: 64.2606, rl_score_sum: 66.0267, score_diff: -1.7661, il_win: 76.0000, rl_win: 231.6875
2025-09-24 11:33:48,619 - mmdet - INFO - Epoch [14][1620/3517]	lr: 2.177e-05, eta: 8:16:23, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1915, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2854, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3874, debug_std_frame_5: 0.4469, loss_rl: -0.2583, loss_critic: 1.4186, loss_rl_bc: 0.0115, il_score: 0.6584, rl_score: 0.6823, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.6001, grad_norm: 55.4604, il_score_sum: 64.2606, rl_score_sum: 66.0267, score_diff: -1.7661, il_win: 76.0000, rl_win: 231.6875
2025-09-24 11:34:04,397 - mmdet - INFO - Epoch [14][1640/3517]	lr: 2.177e-05, eta: 8:16:07, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1789, debug_std_frame_0: 0.2229, debug_std_frame_1: 0.2548, debug_std_frame_2: 0.3060, debug_std_frame_3: 0.3636, debug_std_frame_4: 0.4239, debug_std_frame_5: 0.4856, loss_rl: -0.2138, loss_critic: 1.1921, loss_rl_bc: 0.0161, il_score: 0.6400, rl_score: 0.6281, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4046, grad_norm: 42.8261, il_score_sum: 64.2606, rl_score_sum: 66.0267, score_diff: -1.7661, il_win: 76.0000, rl_win: 231.6875
2025-09-24 11:34:20,331 - mmdet - INFO - Epoch [14][1660/3517]	lr: 2.177e-05, eta: 8:15:51, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1813, debug_std_frame_0: 0.2198, debug_std_frame_1: 0.2514, debug_std_frame_2: 0.3034, debug_std_frame_3: 0.3584, debug_std_frame_4: 0.4218, debug_std_frame_5: 0.4816, loss_rl: -0.2078, loss_critic: 1.1741, loss_rl_bc: 0.0112, il_score: 0.6345, rl_score: 0.6346, prev_frame_loss_waypoint_0: 0.2073, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.4108, grad_norm: 69.9840, il_score_sum: 64.2606, rl_score_sum: 66.0267, score_diff: -1.7661, il_win: 76.0000, rl_win: 231.6875
2025-09-24 11:34:36,462 - mmdet - INFO - Epoch [14][1680/3517]	lr: 2.177e-05, eta: 8:15:35, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1791, debug_std_frame_0: 0.2210, debug_std_frame_1: 0.2514, debug_std_frame_2: 0.2991, debug_std_frame_3: 0.3480, debug_std_frame_4: 0.4036, debug_std_frame_5: 0.4603, loss_rl: -0.2376, loss_critic: 1.3435, loss_rl_bc: 0.0139, il_score: 0.6762, rl_score: 0.6785, prev_frame_loss_waypoint_0: 0.2093, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.5515, grad_norm: 58.2768, il_score_sum: 64.3278, rl_score_sum: 66.0225, score_diff: -1.6947, il_win: 76.0000, rl_win: 232.0588
2025-09-24 11:34:52,163 - mmdet - INFO - Epoch [14][1700/3517]	lr: 2.177e-05, eta: 8:15:18, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1677, debug_std_frame_0: 0.2216, debug_std_frame_1: 0.2520, debug_std_frame_2: 0.3032, debug_std_frame_3: 0.3551, debug_std_frame_4: 0.4119, debug_std_frame_5: 0.4684, loss_rl: -0.2362, loss_critic: 0.9847, loss_rl_bc: 0.0106, il_score: 0.6655, rl_score: 0.6661, prev_frame_loss_waypoint_0: 0.1815, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.1479, grad_norm: 37.7954, il_score_sum: 64.3278, rl_score_sum: 66.0225, score_diff: -1.6947, il_win: 76.0000, rl_win: 232.0588
2025-09-24 11:35:08,045 - mmdet - INFO - Epoch [14][1720/3517]	lr: 2.177e-05, eta: 8:15:02, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1773, debug_std_frame_0: 0.2262, debug_std_frame_1: 0.2547, debug_std_frame_2: 0.3038, debug_std_frame_3: 0.3534, debug_std_frame_4: 0.4057, debug_std_frame_5: 0.4634, loss_rl: -0.2588, loss_critic: 1.4180, loss_rl_bc: 0.0102, il_score: 0.6802, rl_score: 0.6868, prev_frame_loss_waypoint_0: 0.1918, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.5785, grad_norm: 39.7879, il_score_sum: 64.3278, rl_score_sum: 66.0225, score_diff: -1.6947, il_win: 76.0000, rl_win: 232.0588
2025-09-24 11:35:24,029 - mmdet - INFO - Epoch [14][1740/3517]	lr: 2.177e-05, eta: 8:14:46, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1615, debug_std_frame_0: 0.2231, debug_std_frame_1: 0.2462, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3871, debug_std_frame_5: 0.4423, loss_rl: -0.2452, loss_critic: 1.3419, loss_rl_bc: 0.0039, il_score: 0.6481, rl_score: 0.6862, prev_frame_loss_waypoint_0: 0.1672, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.4620, grad_norm: 53.6325, il_score_sum: 64.3278, rl_score_sum: 66.0225, score_diff: -1.6947, il_win: 76.0000, rl_win: 232.0588
2025-09-24 11:35:39,863 - mmdet - INFO - Epoch [14][1760/3517]	lr: 2.177e-05, eta: 8:14:30, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1738, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2887, debug_std_frame_3: 0.3343, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4394, loss_rl: -0.2326, loss_critic: 1.3229, loss_rl_bc: 0.0126, il_score: 0.6586, rl_score: 0.6778, prev_frame_loss_waypoint_0: 0.1800, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4951, grad_norm: 45.0490, il_score_sum: 64.3278, rl_score_sum: 66.0225, score_diff: -1.6947, il_win: 76.0000, rl_win: 232.0588
2025-09-24 11:35:55,935 - mmdet - INFO - Epoch [14][1780/3517]	lr: 2.177e-05, eta: 8:14:13, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1851, debug_std_frame_0: 0.2203, debug_std_frame_1: 0.2452, debug_std_frame_2: 0.2945, debug_std_frame_3: 0.3518, debug_std_frame_4: 0.4125, debug_std_frame_5: 0.4736, loss_rl: -0.1706, loss_critic: 1.1774, loss_rl_bc: 0.0143, il_score: 0.6446, rl_score: 0.6380, prev_frame_loss_waypoint_0: 0.1950, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.4409, grad_norm: 48.2830, il_score_sum: 64.4145, rl_score_sum: 66.0777, score_diff: -1.6632, il_win: 76.0000, rl_win: 232.4444
2025-09-24 11:36:11,517 - mmdet - INFO - Epoch [14][1800/3517]	lr: 2.177e-05, eta: 8:13:57, time: 0.779, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1998, debug_std_frame_0: 0.2304, debug_std_frame_1: 0.2565, debug_std_frame_2: 0.3054, debug_std_frame_3: 0.3581, debug_std_frame_4: 0.4123, debug_std_frame_5: 0.4679, loss_rl: -0.2179, loss_critic: 1.5122, loss_rl_bc: 0.0164, il_score: 0.6210, rl_score: 0.6532, prev_frame_loss_waypoint_0: 0.2120, prev_frame_loss_rl_bc_0: 0.0195, loss: 1.7710, grad_norm: 61.3465, il_score_sum: 64.4145, rl_score_sum: 66.0777, score_diff: -1.6632, il_win: 76.0000, rl_win: 232.4444
2025-09-24 11:36:27,421 - mmdet - INFO - Epoch [14][1820/3517]	lr: 2.177e-05, eta: 8:13:41, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1867, debug_std_frame_0: 0.2347, debug_std_frame_1: 0.2653, debug_std_frame_2: 0.3186, debug_std_frame_3: 0.3716, debug_std_frame_4: 0.4273, debug_std_frame_5: 0.4811, loss_rl: -0.2866, loss_critic: 1.4326, loss_rl_bc: 0.0147, il_score: 0.6379, rl_score: 0.6675, prev_frame_loss_waypoint_0: 0.1977, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.5852, grad_norm: 53.5440, il_score_sum: 64.4145, rl_score_sum: 66.0777, score_diff: -1.6632, il_win: 76.0000, rl_win: 232.4444
2025-09-24 11:36:43,225 - mmdet - INFO - Epoch [14][1840/3517]	lr: 2.177e-05, eta: 8:13:25, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1947, debug_std_frame_0: 0.2321, debug_std_frame_1: 0.2664, debug_std_frame_2: 0.3225, debug_std_frame_3: 0.3795, debug_std_frame_4: 0.4385, debug_std_frame_5: 0.4963, loss_rl: -0.2431, loss_critic: 1.3139, loss_rl_bc: 0.0112, il_score: 0.6324, rl_score: 0.6396, prev_frame_loss_waypoint_0: 0.2188, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.5384, grad_norm: 59.1908, il_score_sum: 64.4145, rl_score_sum: 66.0777, score_diff: -1.6632, il_win: 76.0000, rl_win: 232.4444
2025-09-24 11:36:58,933 - mmdet - INFO - Epoch [14][1860/3517]	lr: 2.177e-05, eta: 8:13:08, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.2005, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2619, debug_std_frame_2: 0.3177, debug_std_frame_3: 0.3747, debug_std_frame_4: 0.4314, debug_std_frame_5: 0.4890, loss_rl: -0.2480, loss_critic: 1.3306, loss_rl_bc: 0.0149, il_score: 0.6250, rl_score: 0.6433, prev_frame_loss_waypoint_0: 0.2124, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.5540, grad_norm: 59.3775, il_score_sum: 64.4145, rl_score_sum: 66.0777, score_diff: -1.6632, il_win: 76.0000, rl_win: 232.4444
2025-09-24 11:37:15,119 - mmdet - INFO - Epoch [14][1880/3517]	lr: 2.177e-05, eta: 8:12:52, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.2037, debug_std_frame_0: 0.2325, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3109, debug_std_frame_3: 0.3698, debug_std_frame_4: 0.4285, debug_std_frame_5: 0.4892, loss_rl: -0.2223, loss_critic: 1.3244, loss_rl_bc: 0.0155, il_score: 0.6318, rl_score: 0.6537, prev_frame_loss_waypoint_0: 0.2194, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.5845, grad_norm: 45.9493, il_score_sum: 64.3319, rl_score_sum: 66.0238, score_diff: -1.6918, il_win: 76.0000, rl_win: 232.8421
2025-09-24 11:37:31,063 - mmdet - INFO - Epoch [14][1900/3517]	lr: 2.177e-05, eta: 8:12:36, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1674, debug_std_frame_0: 0.2327, debug_std_frame_1: 0.2591, debug_std_frame_2: 0.3056, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4102, debug_std_frame_5: 0.4615, loss_rl: -0.2758, loss_critic: 1.2551, loss_rl_bc: 0.0040, il_score: 0.6837, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.3789, grad_norm: 52.8374, il_score_sum: 64.3319, rl_score_sum: 66.0238, score_diff: -1.6918, il_win: 76.0000, rl_win: 232.8421
2025-09-24 11:37:47,107 - mmdet - INFO - Epoch [14][1920/3517]	lr: 2.177e-05, eta: 8:12:20, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1751, debug_std_frame_0: 0.2253, debug_std_frame_1: 0.2517, debug_std_frame_2: 0.3010, debug_std_frame_3: 0.3532, debug_std_frame_4: 0.4052, debug_std_frame_5: 0.4596, loss_rl: -0.3082, loss_critic: 1.3355, loss_rl_bc: 0.0081, il_score: 0.6737, rl_score: 0.7022, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4297, grad_norm: 47.7806, il_score_sum: 64.3319, rl_score_sum: 66.0238, score_diff: -1.6918, il_win: 76.0000, rl_win: 232.8421
2025-09-24 11:38:03,076 - mmdet - INFO - Epoch [14][1940/3517]	lr: 2.177e-05, eta: 8:12:04, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1704, debug_std_frame_0: 0.2165, debug_std_frame_1: 0.2366, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3401, debug_std_frame_4: 0.3936, debug_std_frame_5: 0.4502, loss_rl: -0.2544, loss_critic: 1.4629, loss_rl_bc: 0.0092, il_score: 0.6523, rl_score: 0.6639, prev_frame_loss_waypoint_0: 0.1978, prev_frame_loss_rl_bc_0: 0.0430, loss: 1.6582, grad_norm: 50.4148, il_score_sum: 64.3319, rl_score_sum: 66.0238, score_diff: -1.6918, il_win: 76.0000, rl_win: 232.8421
2025-09-24 11:38:18,772 - mmdet - INFO - Epoch [14][1960/3517]	lr: 2.177e-05, eta: 8:11:47, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1985, debug_std_frame_0: 0.2178, debug_std_frame_1: 0.2422, debug_std_frame_2: 0.3009, debug_std_frame_3: 0.3653, debug_std_frame_4: 0.4309, debug_std_frame_5: 0.4936, loss_rl: -0.1850, loss_critic: 1.5662, loss_rl_bc: 0.0155, il_score: 0.5876, rl_score: 0.6035, prev_frame_loss_waypoint_0: 0.2144, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.8529, grad_norm: 63.2287, il_score_sum: 64.3319, rl_score_sum: 66.0238, score_diff: -1.6918, il_win: 76.0000, rl_win: 232.8421
2025-09-24 11:38:35,065 - mmdet - INFO - Epoch [14][1980/3517]	lr: 2.177e-05, eta: 8:11:32, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1788, debug_std_frame_0: 0.2224, debug_std_frame_1: 0.2490, debug_std_frame_2: 0.3037, debug_std_frame_3: 0.3601, debug_std_frame_4: 0.4182, debug_std_frame_5: 0.4747, loss_rl: -0.2867, loss_critic: 1.5254, loss_rl_bc: 0.0132, il_score: 0.6562, rl_score: 0.6793, prev_frame_loss_waypoint_0: 0.1852, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.6543, grad_norm: 43.2536, il_score_sum: 64.3683, rl_score_sum: 66.0655, score_diff: -1.6972, il_win: 76.0000, rl_win: 233.2500
2025-09-24 11:38:50,855 - mmdet - INFO - Epoch [14][2000/3517]	lr: 2.177e-05, eta: 8:11:15, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1899, debug_std_frame_0: 0.2179, debug_std_frame_1: 0.2452, debug_std_frame_2: 0.2932, debug_std_frame_3: 0.3491, debug_std_frame_4: 0.4044, debug_std_frame_5: 0.4583, loss_rl: -0.2452, loss_critic: 1.3149, loss_rl_bc: 0.0165, il_score: 0.6473, rl_score: 0.6786, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.4897, grad_norm: 43.4995, il_score_sum: 64.3683, rl_score_sum: 66.0655, score_diff: -1.6972, il_win: 76.0000, rl_win: 233.2500
2025-09-24 11:39:06,798 - mmdet - INFO - Epoch [14][2020/3517]	lr: 2.177e-05, eta: 8:10:59, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1808, debug_std_frame_0: 0.2153, debug_std_frame_1: 0.2429, debug_std_frame_2: 0.2908, debug_std_frame_3: 0.3454, debug_std_frame_4: 0.3961, debug_std_frame_5: 0.4498, loss_rl: -0.2388, loss_critic: 1.3069, loss_rl_bc: 0.0123, il_score: 0.6247, rl_score: 0.6519, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.4790, grad_norm: 52.2032, il_score_sum: 64.3683, rl_score_sum: 66.0655, score_diff: -1.6972, il_win: 76.0000, rl_win: 233.2500
2025-09-24 11:39:22,556 - mmdet - INFO - Epoch [14][2040/3517]	lr: 2.177e-05, eta: 8:10:43, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1915, debug_std_frame_0: 0.2309, debug_std_frame_1: 0.2643, debug_std_frame_2: 0.3174, debug_std_frame_3: 0.3752, debug_std_frame_4: 0.4282, debug_std_frame_5: 0.4824, loss_rl: -0.2290, loss_critic: 1.0808, loss_rl_bc: 0.0103, il_score: 0.6717, rl_score: 0.6666, prev_frame_loss_waypoint_0: 0.2042, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.2982, grad_norm: 54.5031, il_score_sum: 64.3683, rl_score_sum: 66.0655, score_diff: -1.6972, il_win: 76.0000, rl_win: 233.2500
2025-09-24 11:39:38,379 - mmdet - INFO - Epoch [14][2060/3517]	lr: 2.177e-05, eta: 8:10:27, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1853, debug_std_frame_0: 0.2331, debug_std_frame_1: 0.2614, debug_std_frame_2: 0.3038, debug_std_frame_3: 0.3561, debug_std_frame_4: 0.4070, debug_std_frame_5: 0.4603, loss_rl: -0.2324, loss_critic: 1.4933, loss_rl_bc: 0.0146, il_score: 0.6336, rl_score: 0.6485, prev_frame_loss_waypoint_0: 0.2020, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.7009, grad_norm: 42.4276, il_score_sum: 64.3683, rl_score_sum: 66.0655, score_diff: -1.6972, il_win: 76.0000, rl_win: 233.2500
2025-09-24 11:39:54,539 - mmdet - INFO - Epoch [14][2080/3517]	lr: 2.177e-05, eta: 8:10:11, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1866, debug_std_frame_0: 0.2293, debug_std_frame_1: 0.2601, debug_std_frame_2: 0.3111, debug_std_frame_3: 0.3688, debug_std_frame_4: 0.4248, debug_std_frame_5: 0.4752, loss_rl: -0.2243, loss_critic: 1.6735, loss_rl_bc: 0.0155, il_score: 0.5881, rl_score: 0.5972, prev_frame_loss_waypoint_0: 0.2198, prev_frame_loss_rl_bc_0: 0.0199, loss: 1.9178, grad_norm: 52.6160, il_score_sum: 64.3329, rl_score_sum: 66.0337, score_diff: -1.7008, il_win: 76.0000, rl_win: 234.1000
2025-09-24 11:40:10,321 - mmdet - INFO - Epoch [14][2100/3517]	lr: 2.177e-05, eta: 8:09:54, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1963, debug_std_frame_0: 0.2376, debug_std_frame_1: 0.2736, debug_std_frame_2: 0.3273, debug_std_frame_3: 0.3850, debug_std_frame_4: 0.4404, debug_std_frame_5: 0.4927, loss_rl: -0.2352, loss_critic: 1.5201, loss_rl_bc: 0.0120, il_score: 0.6386, rl_score: 0.6233, prev_frame_loss_waypoint_0: 0.2083, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.7433, grad_norm: 62.8224, il_score_sum: 64.3329, rl_score_sum: 66.0337, score_diff: -1.7008, il_win: 76.0000, rl_win: 234.1000
2025-09-24 11:40:26,278 - mmdet - INFO - Epoch [14][2120/3517]	lr: 2.177e-05, eta: 8:09:38, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1843, debug_std_frame_0: 0.2289, debug_std_frame_1: 0.2606, debug_std_frame_2: 0.3099, debug_std_frame_3: 0.3630, debug_std_frame_4: 0.4125, debug_std_frame_5: 0.4608, loss_rl: -0.2676, loss_critic: 1.4720, loss_rl_bc: 0.0092, il_score: 0.6343, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.6167, grad_norm: 49.5723, il_score_sum: 64.3329, rl_score_sum: 66.0337, score_diff: -1.7008, il_win: 76.0000, rl_win: 234.1000
2025-09-24 11:40:42,203 - mmdet - INFO - Epoch [14][2140/3517]	lr: 2.177e-05, eta: 8:09:22, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1696, debug_std_frame_0: 0.2299, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3106, debug_std_frame_3: 0.3598, debug_std_frame_4: 0.4096, debug_std_frame_5: 0.4590, loss_rl: -0.2957, loss_critic: 1.2958, loss_rl_bc: 0.0072, il_score: 0.6701, rl_score: 0.7006, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.3924, grad_norm: 43.2843, il_score_sum: 64.3329, rl_score_sum: 66.0337, score_diff: -1.7008, il_win: 76.0000, rl_win: 234.1000
2025-09-24 11:40:58,045 - mmdet - INFO - Epoch [14][2160/3517]	lr: 2.177e-05, eta: 8:09:06, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1624, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2951, debug_std_frame_3: 0.3509, debug_std_frame_4: 0.4055, debug_std_frame_5: 0.4601, loss_rl: -0.3096, loss_critic: 1.2081, loss_rl_bc: 0.0034, il_score: 0.7078, rl_score: 0.7271, prev_frame_loss_waypoint_0: 0.1689, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.2639, grad_norm: 43.9185, il_score_sum: 64.3329, rl_score_sum: 66.0337, score_diff: -1.7008, il_win: 76.0000, rl_win: 234.1000
2025-09-24 11:41:14,164 - mmdet - INFO - Epoch [14][2180/3517]	lr: 2.177e-05, eta: 8:08:50, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1784, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2320, debug_std_frame_2: 0.2818, debug_std_frame_3: 0.3380, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4495, loss_rl: -0.2873, loss_critic: 1.2825, loss_rl_bc: 0.0076, il_score: 0.6634, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.1940, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.4143, grad_norm: 46.0263, il_score_sum: 64.4831, rl_score_sum: 66.1772, score_diff: -1.6942, il_win: 76.0000, rl_win: 234.9500
2025-09-24 11:41:29,750 - mmdet - INFO - Epoch [14][2200/3517]	lr: 2.177e-05, eta: 8:08:33, time: 0.779, data_time: 0.012, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1720, debug_std_frame_0: 0.2131, debug_std_frame_1: 0.2356, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3460, debug_std_frame_4: 0.4011, debug_std_frame_5: 0.4608, loss_rl: -0.2807, loss_critic: 1.6136, loss_rl_bc: 0.0059, il_score: 0.6431, rl_score: 0.6601, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.7389, grad_norm: 55.4853, il_score_sum: 64.4831, rl_score_sum: 66.1772, score_diff: -1.6942, il_win: 76.0000, rl_win: 234.9500
2025-09-24 11:41:45,524 - mmdet - INFO - Epoch [14][2220/3517]	lr: 2.177e-05, eta: 8:08:17, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1824, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2306, debug_std_frame_2: 0.2799, debug_std_frame_3: 0.3366, debug_std_frame_4: 0.3888, debug_std_frame_5: 0.4426, loss_rl: -0.2693, loss_critic: 1.1004, loss_rl_bc: 0.0079, il_score: 0.6810, rl_score: 0.7089, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.2692, grad_norm: 43.7904, il_score_sum: 64.4831, rl_score_sum: 66.1772, score_diff: -1.6942, il_win: 76.0000, rl_win: 234.9500
2025-09-24 11:42:01,531 - mmdet - INFO - Epoch [14][2240/3517]	lr: 2.177e-05, eta: 8:08:01, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1784, debug_std_frame_0: 0.2181, debug_std_frame_1: 0.2434, debug_std_frame_2: 0.2938, debug_std_frame_3: 0.3488, debug_std_frame_4: 0.4018, debug_std_frame_5: 0.4605, loss_rl: -0.2618, loss_critic: 1.4882, loss_rl_bc: 0.0114, il_score: 0.6479, rl_score: 0.6598, prev_frame_loss_waypoint_0: 0.2005, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.6549, grad_norm: 43.6030, il_score_sum: 64.4831, rl_score_sum: 66.1772, score_diff: -1.6942, il_win: 76.0000, rl_win: 234.9500
2025-09-24 11:42:17,378 - mmdet - INFO - Epoch [14][2260/3517]	lr: 2.177e-05, eta: 8:07:45, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1582, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2411, debug_std_frame_2: 0.2928, debug_std_frame_3: 0.3451, debug_std_frame_4: 0.3971, debug_std_frame_5: 0.4497, loss_rl: -0.3060, loss_critic: 1.2291, loss_rl_bc: 0.0045, il_score: 0.6544, rl_score: 0.6751, prev_frame_loss_waypoint_0: 0.1665, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.2799, grad_norm: 37.6111, il_score_sum: 64.4831, rl_score_sum: 66.1772, score_diff: -1.6942, il_win: 76.0000, rl_win: 234.9500
2025-09-24 11:42:33,382 - mmdet - INFO - Epoch [14][2280/3517]	lr: 2.177e-05, eta: 8:07:28, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1898, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2410, debug_std_frame_2: 0.2900, debug_std_frame_3: 0.3413, debug_std_frame_4: 0.3940, debug_std_frame_5: 0.4475, loss_rl: -0.2380, loss_critic: 1.4010, loss_rl_bc: 0.0114, il_score: 0.6383, rl_score: 0.6584, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.5883, grad_norm: 40.8081, il_score_sum: 64.4709, rl_score_sum: 66.1676, score_diff: -1.6967, il_win: 76.0000, rl_win: 235.8000
2025-09-24 11:42:49,083 - mmdet - INFO - Epoch [14][2300/3517]	lr: 2.177e-05, eta: 8:07:12, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1823, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2389, debug_std_frame_2: 0.2918, debug_std_frame_3: 0.3446, debug_std_frame_4: 0.4019, debug_std_frame_5: 0.4586, loss_rl: -0.2461, loss_critic: 1.2988, loss_rl_bc: 0.0080, il_score: 0.6425, rl_score: 0.6636, prev_frame_loss_waypoint_0: 0.2081, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.4902, grad_norm: 55.2649, il_score_sum: 64.4709, rl_score_sum: 66.1676, score_diff: -1.6967, il_win: 76.0000, rl_win: 235.8000
2025-09-24 11:43:05,148 - mmdet - INFO - Epoch [14][2320/3517]	lr: 2.177e-05, eta: 8:06:56, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1685, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3464, debug_std_frame_4: 0.4020, debug_std_frame_5: 0.4622, loss_rl: -0.2964, loss_critic: 1.4987, loss_rl_bc: 0.0048, il_score: 0.6686, rl_score: 0.7079, prev_frame_loss_waypoint_0: 0.1762, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.5851, grad_norm: 42.3428, il_score_sum: 64.4709, rl_score_sum: 66.1676, score_diff: -1.6967, il_win: 76.0000, rl_win: 235.8000
2025-09-24 11:43:21,115 - mmdet - INFO - Epoch [14][2340/3517]	lr: 2.177e-05, eta: 8:06:40, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1891, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2343, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.4085, debug_std_frame_5: 0.4693, loss_rl: -0.2379, loss_critic: 1.1781, loss_rl_bc: 0.0158, il_score: 0.6743, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.3762, grad_norm: 43.4926, il_score_sum: 64.4709, rl_score_sum: 66.1676, score_diff: -1.6967, il_win: 76.0000, rl_win: 235.8000
2025-09-24 11:43:37,135 - mmdet - INFO - Epoch [14][2360/3517]	lr: 2.177e-05, eta: 8:06:24, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1930, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3405, debug_std_frame_4: 0.4003, debug_std_frame_5: 0.4643, loss_rl: -0.2249, loss_critic: 1.0010, loss_rl_bc: 0.0123, il_score: 0.6491, rl_score: 0.6706, prev_frame_loss_waypoint_0: 0.2025, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.2234, grad_norm: 47.3693, il_score_sum: 64.4709, rl_score_sum: 66.1676, score_diff: -1.6967, il_win: 76.0000, rl_win: 235.8000
2025-09-24 11:43:53,439 - mmdet - INFO - Epoch [14][2380/3517]	lr: 2.177e-05, eta: 8:06:08, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1907, debug_std_frame_0: 0.2181, debug_std_frame_1: 0.2474, debug_std_frame_2: 0.3013, debug_std_frame_3: 0.3601, debug_std_frame_4: 0.4269, debug_std_frame_5: 0.4935, loss_rl: -0.1905, loss_critic: 1.4566, loss_rl_bc: 0.0147, il_score: 0.5885, rl_score: 0.5807, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.7218, grad_norm: 44.5114, il_score_sum: 64.6147, rl_score_sum: 66.2437, score_diff: -1.6290, il_win: 76.0000, rl_win: 236.6500
2025-09-24 11:44:09,235 - mmdet - INFO - Epoch [14][2400/3517]	lr: 2.177e-05, eta: 8:05:52, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1975, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.3059, debug_std_frame_3: 0.3652, debug_std_frame_4: 0.4300, debug_std_frame_5: 0.4917, loss_rl: -0.2297, loss_critic: 1.5641, loss_rl_bc: 0.0130, il_score: 0.6324, rl_score: 0.6536, prev_frame_loss_waypoint_0: 0.2103, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.7972, grad_norm: 51.9079, il_score_sum: 64.6147, rl_score_sum: 66.2437, score_diff: -1.6290, il_win: 76.0000, rl_win: 236.6500
2025-09-24 11:44:25,283 - mmdet - INFO - Epoch [14][2420/3517]	lr: 2.177e-05, eta: 8:05:36, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0314, loss_waypoint: 0.1933, debug_std_frame_0: 0.2213, debug_std_frame_1: 0.2541, debug_std_frame_2: 0.3082, debug_std_frame_3: 0.3675, debug_std_frame_4: 0.4339, debug_std_frame_5: 0.4936, loss_rl: -0.2408, loss_critic: 1.4797, loss_rl_bc: 0.0155, il_score: 0.6441, rl_score: 0.6582, prev_frame_loss_waypoint_0: 0.1890, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.6796, grad_norm: 53.3874, il_score_sum: 64.6147, rl_score_sum: 66.2437, score_diff: -1.6290, il_win: 76.0000, rl_win: 236.6500
2025-09-24 11:44:41,211 - mmdet - INFO - Epoch [14][2440/3517]	lr: 2.177e-05, eta: 8:05:19, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1803, debug_std_frame_0: 0.2168, debug_std_frame_1: 0.2525, debug_std_frame_2: 0.3081, debug_std_frame_3: 0.3686, debug_std_frame_4: 0.4357, debug_std_frame_5: 0.4968, loss_rl: -0.2262, loss_critic: 1.3727, loss_rl_bc: 0.0092, il_score: 0.6395, rl_score: 0.6557, prev_frame_loss_waypoint_0: 0.1895, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.5660, grad_norm: 39.8997, il_score_sum: 64.6147, rl_score_sum: 66.2437, score_diff: -1.6290, il_win: 76.0000, rl_win: 236.6500
2025-09-24 11:44:57,110 - mmdet - INFO - Epoch [14][2460/3517]	lr: 2.177e-05, eta: 8:05:03, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0313, loss_waypoint: 0.2160, debug_std_frame_0: 0.2167, debug_std_frame_1: 0.2558, debug_std_frame_2: 0.3120, debug_std_frame_3: 0.3733, debug_std_frame_4: 0.4387, debug_std_frame_5: 0.4999, loss_rl: -0.2176, loss_critic: 1.4734, loss_rl_bc: 0.0180, il_score: 0.6011, rl_score: 0.6163, prev_frame_loss_waypoint_0: 0.2273, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.7654, grad_norm: 45.2490, il_score_sum: 64.6147, rl_score_sum: 66.2437, score_diff: -1.6290, il_win: 76.0000, rl_win: 236.6500
2025-09-24 11:45:13,434 - mmdet - INFO - Epoch [14][2480/3517]	lr: 2.177e-05, eta: 8:04:47, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0306, loss_waypoint: 0.1948, debug_std_frame_0: 0.2270, debug_std_frame_1: 0.2655, debug_std_frame_2: 0.3187, debug_std_frame_3: 0.3753, debug_std_frame_4: 0.4385, debug_std_frame_5: 0.4982, loss_rl: -0.2510, loss_critic: 1.1799, loss_rl_bc: 0.0114, il_score: 0.6519, rl_score: 0.6667, prev_frame_loss_waypoint_0: 0.2000, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3744, grad_norm: 56.1326, il_score_sum: 64.5251, rl_score_sum: 66.2046, score_diff: -1.6795, il_win: 76.0000, rl_win: 237.5500
2025-09-24 11:45:29,280 - mmdet - INFO - Epoch [14][2500/3517]	lr: 2.177e-05, eta: 8:04:31, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1737, debug_std_frame_0: 0.2178, debug_std_frame_1: 0.2522, debug_std_frame_2: 0.3012, debug_std_frame_3: 0.3567, debug_std_frame_4: 0.4178, debug_std_frame_5: 0.4760, loss_rl: -0.2599, loss_critic: 1.5783, loss_rl_bc: 0.0148, il_score: 0.6269, rl_score: 0.6417, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.7259, grad_norm: 41.6599, il_score_sum: 64.5251, rl_score_sum: 66.2046, score_diff: -1.6795, il_win: 76.0000, rl_win: 237.5500
2025-09-24 11:45:45,315 - mmdet - INFO - Epoch [14][2520/3517]	lr: 2.177e-05, eta: 8:04:15, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1958, debug_std_frame_0: 0.2168, debug_std_frame_1: 0.2521, debug_std_frame_2: 0.3055, debug_std_frame_3: 0.3662, debug_std_frame_4: 0.4274, debug_std_frame_5: 0.4909, loss_rl: -0.2536, loss_critic: 1.6605, loss_rl_bc: 0.0141, il_score: 0.6462, rl_score: 0.6465, prev_frame_loss_waypoint_0: 0.2013, prev_frame_loss_rl_bc_0: 0.0165, loss: 1.8616, grad_norm: 54.1699, il_score_sum: 64.5251, rl_score_sum: 66.2046, score_diff: -1.6795, il_win: 76.0000, rl_win: 237.5500
2025-09-24 11:46:01,419 - mmdet - INFO - Epoch [14][2540/3517]	lr: 2.177e-05, eta: 8:03:59, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1845, debug_std_frame_0: 0.2193, debug_std_frame_1: 0.2562, debug_std_frame_2: 0.3103, debug_std_frame_3: 0.3680, debug_std_frame_4: 0.4307, debug_std_frame_5: 0.4949, loss_rl: -0.2461, loss_critic: 1.1922, loss_rl_bc: 0.0113, il_score: 0.6504, rl_score: 0.6753, prev_frame_loss_waypoint_0: 0.1978, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.3781, grad_norm: 49.7137, il_score_sum: 64.5251, rl_score_sum: 66.2046, score_diff: -1.6795, il_win: 76.0000, rl_win: 237.5500
2025-09-24 11:46:17,540 - mmdet - INFO - Epoch [14][2560/3517]	lr: 2.177e-05, eta: 8:03:43, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1707, debug_std_frame_0: 0.2178, debug_std_frame_1: 0.2524, debug_std_frame_2: 0.3036, debug_std_frame_3: 0.3619, debug_std_frame_4: 0.4259, debug_std_frame_5: 0.4848, loss_rl: -0.2619, loss_critic: 1.6030, loss_rl_bc: 0.0112, il_score: 0.6334, rl_score: 0.6462, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.7459, grad_norm: 41.0713, il_score_sum: 64.5251, rl_score_sum: 66.2046, score_diff: -1.6795, il_win: 76.0000, rl_win: 237.5500
2025-09-24 11:46:33,875 - mmdet - INFO - Epoch [14][2580/3517]	lr: 2.177e-05, eta: 8:03:27, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1722, debug_std_frame_0: 0.2136, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3486, debug_std_frame_4: 0.4090, debug_std_frame_5: 0.4714, loss_rl: -0.2356, loss_critic: 1.4060, loss_rl_bc: 0.0065, il_score: 0.6084, rl_score: 0.6407, prev_frame_loss_waypoint_0: 0.1997, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.5866, grad_norm: 46.1610, il_score_sum: 64.4763, rl_score_sum: 66.1878, score_diff: -1.7115, il_win: 76.0000, rl_win: 238.4500
2025-09-24 11:46:49,648 - mmdet - INFO - Epoch [14][2600/3517]	lr: 2.177e-05, eta: 8:03:11, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1725, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2351, debug_std_frame_2: 0.2792, debug_std_frame_3: 0.3294, debug_std_frame_4: 0.3815, debug_std_frame_5: 0.4393, loss_rl: -0.2477, loss_critic: 1.4889, loss_rl_bc: 0.0061, il_score: 0.6654, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.1759, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.6264, grad_norm: 47.4572, il_score_sum: 64.4763, rl_score_sum: 66.1878, score_diff: -1.7115, il_win: 76.0000, rl_win: 238.4500
2025-09-24 11:47:05,525 - mmdet - INFO - Epoch [14][2620/3517]	lr: 2.177e-05, eta: 8:02:55, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1971, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2319, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3418, debug_std_frame_4: 0.4078, debug_std_frame_5: 0.4749, loss_rl: -0.1980, loss_critic: 1.3460, loss_rl_bc: 0.0126, il_score: 0.6012, rl_score: 0.6464, prev_frame_loss_waypoint_0: 0.2240, prev_frame_loss_rl_bc_0: 0.0202, loss: 1.6292, grad_norm: 53.7634, il_score_sum: 64.4763, rl_score_sum: 66.1878, score_diff: -1.7115, il_win: 76.0000, rl_win: 238.4500
2025-09-24 11:47:21,509 - mmdet - INFO - Epoch [14][2640/3517]	lr: 2.177e-05, eta: 8:02:38, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1907, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2375, debug_std_frame_2: 0.2899, debug_std_frame_3: 0.3492, debug_std_frame_4: 0.4157, debug_std_frame_5: 0.4822, loss_rl: -0.2290, loss_critic: 1.3116, loss_rl_bc: 0.0104, il_score: 0.6108, rl_score: 0.6460, prev_frame_loss_waypoint_0: 0.1987, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.5226, grad_norm: 50.0189, il_score_sum: 64.4763, rl_score_sum: 66.1878, score_diff: -1.7115, il_win: 76.0000, rl_win: 238.4500
2025-09-24 11:47:37,304 - mmdet - INFO - Epoch [14][2660/3517]	lr: 2.177e-05, eta: 8:02:22, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1893, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.2951, debug_std_frame_3: 0.3525, debug_std_frame_4: 0.4141, debug_std_frame_5: 0.4772, loss_rl: -0.2394, loss_critic: 1.2059, loss_rl_bc: 0.0126, il_score: 0.6648, rl_score: 0.6840, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.3903, grad_norm: 43.1957, il_score_sum: 64.4763, rl_score_sum: 66.1878, score_diff: -1.7115, il_win: 76.0000, rl_win: 238.4500
2025-09-24 11:47:53,505 - mmdet - INFO - Epoch [14][2680/3517]	lr: 2.177e-05, eta: 8:02:06, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1768, debug_std_frame_0: 0.2193, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.2963, debug_std_frame_3: 0.3451, debug_std_frame_4: 0.4008, debug_std_frame_5: 0.4582, loss_rl: -0.2864, loss_critic: 1.1734, loss_rl_bc: 0.0072, il_score: 0.6631, rl_score: 0.6790, prev_frame_loss_waypoint_0: 0.2044, prev_frame_loss_rl_bc_0: 0.0363, loss: 1.3414, grad_norm: 59.4849, il_score_sum: 64.5322, rl_score_sum: 66.2547, score_diff: -1.7225, il_win: 76.0000, rl_win: 239.3500
2025-09-24 11:48:09,247 - mmdet - INFO - Epoch [14][2700/3517]	lr: 2.177e-05, eta: 8:01:50, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1802, debug_std_frame_0: 0.2323, debug_std_frame_1: 0.2682, debug_std_frame_2: 0.3173, debug_std_frame_3: 0.3673, debug_std_frame_4: 0.4219, debug_std_frame_5: 0.4812, loss_rl: -0.2039, loss_critic: 1.3811, loss_rl_bc: 0.0118, il_score: 0.6555, rl_score: 0.6540, prev_frame_loss_waypoint_0: 0.2020, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.6108, grad_norm: 45.9641, il_score_sum: 64.5322, rl_score_sum: 66.2547, score_diff: -1.7225, il_win: 76.0000, rl_win: 239.3500
2025-09-24 11:48:25,364 - mmdet - INFO - Epoch [14][2720/3517]	lr: 2.177e-05, eta: 8:01:34, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1974, debug_std_frame_0: 0.2272, debug_std_frame_1: 0.2629, debug_std_frame_2: 0.3125, debug_std_frame_3: 0.3611, debug_std_frame_4: 0.4171, debug_std_frame_5: 0.4721, loss_rl: -0.2449, loss_critic: 1.6566, loss_rl_bc: 0.0130, il_score: 0.6568, rl_score: 0.6784, prev_frame_loss_waypoint_0: 0.2192, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.8877, grad_norm: 68.6964, il_score_sum: 64.5322, rl_score_sum: 66.2547, score_diff: -1.7225, il_win: 76.0000, rl_win: 239.3500
2025-09-24 11:48:41,425 - mmdet - INFO - Epoch [14][2740/3517]	lr: 2.177e-05, eta: 8:01:18, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1906, debug_std_frame_0: 0.2308, debug_std_frame_1: 0.2642, debug_std_frame_2: 0.3101, debug_std_frame_3: 0.3591, debug_std_frame_4: 0.4114, debug_std_frame_5: 0.4651, loss_rl: -0.2198, loss_critic: 1.3700, loss_rl_bc: 0.0195, il_score: 0.6454, rl_score: 0.6542, prev_frame_loss_waypoint_0: 0.1934, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.5955, grad_norm: 63.6585, il_score_sum: 64.5322, rl_score_sum: 66.2547, score_diff: -1.7225, il_win: 76.0000, rl_win: 239.3500
2025-09-24 11:48:57,177 - mmdet - INFO - Epoch [14][2760/3517]	lr: 2.177e-05, eta: 8:01:02, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0310, loss_waypoint: 0.1769, debug_std_frame_0: 0.2296, debug_std_frame_1: 0.2674, debug_std_frame_2: 0.3149, debug_std_frame_3: 0.3641, debug_std_frame_4: 0.4184, debug_std_frame_5: 0.4723, loss_rl: -0.2759, loss_critic: 1.2729, loss_rl_bc: 0.0085, il_score: 0.6483, rl_score: 0.6802, prev_frame_loss_waypoint_0: 0.2007, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.4257, grad_norm: 57.5016, il_score_sum: 64.5322, rl_score_sum: 66.2547, score_diff: -1.7225, il_win: 76.0000, rl_win: 239.3500
2025-09-24 11:49:13,209 - mmdet - INFO - Epoch [14][2780/3517]	lr: 2.177e-05, eta: 8:00:45, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1838, debug_std_frame_0: 0.2290, debug_std_frame_1: 0.2625, debug_std_frame_2: 0.3123, debug_std_frame_3: 0.3637, debug_std_frame_4: 0.4189, debug_std_frame_5: 0.4796, loss_rl: -0.2514, loss_critic: 1.3135, loss_rl_bc: 0.0102, il_score: 0.6523, rl_score: 0.6748, prev_frame_loss_waypoint_0: 0.1884, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.4821, grad_norm: 46.3909, il_score_sum: 64.5629, rl_score_sum: 66.2573, score_diff: -1.6944, il_win: 76.0000, rl_win: 240.2500
2025-09-24 11:49:29,122 - mmdet - INFO - Epoch [14][2800/3517]	lr: 2.177e-05, eta: 8:00:29, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1965, debug_std_frame_0: 0.2281, debug_std_frame_1: 0.2617, debug_std_frame_2: 0.3128, debug_std_frame_3: 0.3675, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4829, loss_rl: -0.2311, loss_critic: 1.3600, loss_rl_bc: 0.0164, il_score: 0.6422, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.2098, prev_frame_loss_rl_bc_0: 0.0149, loss: 1.5934, grad_norm: 54.5412, il_score_sum: 64.5629, rl_score_sum: 66.2573, score_diff: -1.6944, il_win: 76.0000, rl_win: 240.2500
2025-09-24 11:49:45,033 - mmdet - INFO - Epoch [14][2820/3517]	lr: 2.177e-05, eta: 8:00:13, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1965, debug_std_frame_0: 0.2290, debug_std_frame_1: 0.2617, debug_std_frame_2: 0.3118, debug_std_frame_3: 0.3637, debug_std_frame_4: 0.4246, debug_std_frame_5: 0.4852, loss_rl: -0.2358, loss_critic: 1.2578, loss_rl_bc: 0.0134, il_score: 0.6354, rl_score: 0.6544, prev_frame_loss_waypoint_0: 0.2177, prev_frame_loss_rl_bc_0: 0.0169, loss: 1.4953, grad_norm: 55.6309, il_score_sum: 64.5629, rl_score_sum: 66.2573, score_diff: -1.6944, il_win: 76.0000, rl_win: 240.2500
2025-09-24 11:50:00,921 - mmdet - INFO - Epoch [14][2840/3517]	lr: 2.177e-05, eta: 7:59:57, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1721, debug_std_frame_0: 0.2232, debug_std_frame_1: 0.2537, debug_std_frame_2: 0.3002, debug_std_frame_3: 0.3513, debug_std_frame_4: 0.4051, debug_std_frame_5: 0.4620, loss_rl: -0.2740, loss_critic: 1.1896, loss_rl_bc: 0.0065, il_score: 0.6338, rl_score: 0.6878, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.3246, grad_norm: 52.6382, il_score_sum: 64.5629, rl_score_sum: 66.2573, score_diff: -1.6944, il_win: 76.0000, rl_win: 240.2500
2025-09-24 11:50:16,812 - mmdet - INFO - Epoch [14][2860/3517]	lr: 2.177e-05, eta: 7:59:41, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1707, debug_std_frame_0: 0.2219, debug_std_frame_1: 0.2488, debug_std_frame_2: 0.2945, debug_std_frame_3: 0.3440, debug_std_frame_4: 0.3980, debug_std_frame_5: 0.4572, loss_rl: -0.2241, loss_critic: 1.4497, loss_rl_bc: 0.0115, il_score: 0.6478, rl_score: 0.6627, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.6328, grad_norm: 56.3641, il_score_sum: 64.5629, rl_score_sum: 66.2573, score_diff: -1.6944, il_win: 76.0000, rl_win: 240.2500
2025-09-24 11:50:32,963 - mmdet - INFO - Epoch [14][2880/3517]	lr: 2.177e-05, eta: 7:59:25, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.2015, debug_std_frame_0: 0.2354, debug_std_frame_1: 0.2687, debug_std_frame_2: 0.3165, debug_std_frame_3: 0.3662, debug_std_frame_4: 0.4207, debug_std_frame_5: 0.4749, loss_rl: -0.2090, loss_critic: 1.4115, loss_rl_bc: 0.0285, il_score: 0.6301, rl_score: 0.6122, prev_frame_loss_waypoint_0: 0.1928, prev_frame_loss_rl_bc_0: 0.0269, loss: 1.6804, grad_norm: 52.5419, il_score_sum: 64.5259, rl_score_sum: 66.2431, score_diff: -1.7171, il_win: 76.0000, rl_win: 241.1500
2025-09-24 11:50:48,774 - mmdet - INFO - Epoch [14][2900/3517]	lr: 2.177e-05, eta: 7:59:08, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0308, loss_waypoint: 0.2145, debug_std_frame_0: 0.2522, debug_std_frame_1: 0.2893, debug_std_frame_2: 0.3382, debug_std_frame_3: 0.3877, debug_std_frame_4: 0.4440, debug_std_frame_5: 0.4999, loss_rl: -0.2315, loss_critic: 1.5775, loss_rl_bc: 0.0171, il_score: 0.6026, rl_score: 0.6356, prev_frame_loss_waypoint_0: 0.2253, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.8496, grad_norm: 75.8860, il_score_sum: 64.5259, rl_score_sum: 66.2431, score_diff: -1.7171, il_win: 76.0000, rl_win: 241.1500
2025-09-24 11:51:04,655 - mmdet - INFO - Epoch [14][2920/3517]	lr: 2.177e-05, eta: 7:58:52, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.2095, debug_std_frame_0: 0.2445, debug_std_frame_1: 0.2823, debug_std_frame_2: 0.3317, debug_std_frame_3: 0.3824, debug_std_frame_4: 0.4375, debug_std_frame_5: 0.4930, loss_rl: -0.2419, loss_critic: 1.5759, loss_rl_bc: 0.0153, il_score: 0.5747, rl_score: 0.6548, prev_frame_loss_waypoint_0: 0.1952, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.7965, grad_norm: 53.1756, il_score_sum: 64.5259, rl_score_sum: 66.2431, score_diff: -1.7171, il_win: 76.0000, rl_win: 241.1500
2025-09-24 11:51:20,726 - mmdet - INFO - Epoch [14][2940/3517]	lr: 2.177e-05, eta: 7:58:36, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0304, loss_waypoint: 0.1783, debug_std_frame_0: 0.2341, debug_std_frame_1: 0.2688, debug_std_frame_2: 0.3155, debug_std_frame_3: 0.3645, debug_std_frame_4: 0.4208, debug_std_frame_5: 0.4745, loss_rl: -0.2476, loss_critic: 1.2362, loss_rl_bc: 0.0082, il_score: 0.6341, rl_score: 0.6483, prev_frame_loss_waypoint_0: 0.1895, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.4063, grad_norm: 48.2399, il_score_sum: 64.5259, rl_score_sum: 66.2431, score_diff: -1.7171, il_win: 76.0000, rl_win: 241.1500
2025-09-24 11:51:36,629 - mmdet - INFO - Epoch [14][2960/3517]	lr: 2.177e-05, eta: 7:58:20, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0318, loss_waypoint: 0.1891, debug_std_frame_0: 0.2285, debug_std_frame_1: 0.2586, debug_std_frame_2: 0.3073, debug_std_frame_3: 0.3592, debug_std_frame_4: 0.4161, debug_std_frame_5: 0.4766, loss_rl: -0.2511, loss_critic: 1.3916, loss_rl_bc: 0.0074, il_score: 0.6460, rl_score: 0.6784, prev_frame_loss_waypoint_0: 0.2266, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.6107, grad_norm: 49.8548, il_score_sum: 64.5259, rl_score_sum: 66.2431, score_diff: -1.7171, il_win: 76.0000, rl_win: 241.1500
2025-09-24 11:51:53,103 - mmdet - INFO - Epoch [14][2980/3517]	lr: 2.177e-05, eta: 7:58:04, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0320, loss_waypoint: 0.2008, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2523, debug_std_frame_2: 0.3040, debug_std_frame_3: 0.3587, debug_std_frame_4: 0.4194, debug_std_frame_5: 0.4791, loss_rl: -0.2527, loss_critic: 1.5060, loss_rl_bc: 0.0117, il_score: 0.6049, rl_score: 0.6352, prev_frame_loss_waypoint_0: 0.2187, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.7303, grad_norm: 52.3947, il_score_sum: 64.3984, rl_score_sum: 66.1503, score_diff: -1.7519, il_win: 76.0000, rl_win: 242.0500
2025-09-24 11:52:08,774 - mmdet - INFO - Epoch [14][3000/3517]	lr: 2.177e-05, eta: 7:57:48, time: 0.783, data_time: 0.011, memory: 8550, loss_rec: 0.0310, loss_waypoint: 0.1596, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2469, debug_std_frame_2: 0.2960, debug_std_frame_3: 0.3505, debug_std_frame_4: 0.4100, debug_std_frame_5: 0.4654, loss_rl: -0.2775, loss_critic: 1.6818, loss_rl_bc: 0.0069, il_score: 0.6615, rl_score: 0.6648, prev_frame_loss_waypoint_0: 0.1718, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.7789, grad_norm: 44.4348, il_score_sum: 64.3984, rl_score_sum: 66.1503, score_diff: -1.7519, il_win: 76.0000, rl_win: 242.0500
2025-09-24 11:52:24,710 - mmdet - INFO - Epoch [14][3020/3517]	lr: 2.177e-05, eta: 7:57:32, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1843, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2451, debug_std_frame_2: 0.2910, debug_std_frame_3: 0.3431, debug_std_frame_4: 0.3985, debug_std_frame_5: 0.4556, loss_rl: -0.2191, loss_critic: 1.5633, loss_rl_bc: 0.0123, il_score: 0.6075, rl_score: 0.6384, prev_frame_loss_waypoint_0: 0.2115, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.7942, grad_norm: 60.4932, il_score_sum: 64.3984, rl_score_sum: 66.1503, score_diff: -1.7519, il_win: 76.0000, rl_win: 242.0500
2025-09-24 11:52:40,695 - mmdet - INFO - Epoch [14][3040/3517]	lr: 2.177e-05, eta: 7:57:16, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1939, debug_std_frame_0: 0.2237, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3037, debug_std_frame_3: 0.3560, debug_std_frame_4: 0.4135, debug_std_frame_5: 0.4707, loss_rl: -0.2824, loss_critic: 1.2706, loss_rl_bc: 0.0308, il_score: 0.6656, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1991, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.4685, grad_norm: 53.9511, il_score_sum: 64.3984, rl_score_sum: 66.1503, score_diff: -1.7519, il_win: 76.0000, rl_win: 242.0500
2025-09-24 11:52:56,771 - mmdet - INFO - Epoch [14][3060/3517]	lr: 2.177e-05, eta: 7:56:59, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1861, debug_std_frame_0: 0.2219, debug_std_frame_1: 0.2484, debug_std_frame_2: 0.2943, debug_std_frame_3: 0.3464, debug_std_frame_4: 0.4005, debug_std_frame_5: 0.4586, loss_rl: -0.2295, loss_critic: 1.2748, loss_rl_bc: 0.0068, il_score: 0.6159, rl_score: 0.6675, prev_frame_loss_waypoint_0: 0.2148, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.4947, grad_norm: 65.6319, il_score_sum: 64.3984, rl_score_sum: 66.1503, score_diff: -1.7519, il_win: 76.0000, rl_win: 242.0500
2025-09-24 11:53:12,923 - mmdet - INFO - Epoch [14][3080/3517]	lr: 2.177e-05, eta: 7:56:43, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0309, loss_waypoint: 0.1888, debug_std_frame_0: 0.2174, debug_std_frame_1: 0.2451, debug_std_frame_2: 0.2899, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3854, debug_std_frame_5: 0.4383, loss_rl: -0.2805, loss_critic: 1.3266, loss_rl_bc: 0.0091, il_score: 0.6243, rl_score: 0.6913, prev_frame_loss_waypoint_0: 0.2032, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.4877, grad_norm: 53.8006, il_score_sum: 64.4020, rl_score_sum: 66.2119, score_diff: -1.8099, il_win: 76.0000, rl_win: 242.9500
2025-09-24 11:53:28,804 - mmdet - INFO - Epoch [14][3100/3517]	lr: 2.177e-05, eta: 7:56:27, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0306, loss_waypoint: 0.2205, debug_std_frame_0: 0.2220, debug_std_frame_1: 0.2534, debug_std_frame_2: 0.3029, debug_std_frame_3: 0.3584, debug_std_frame_4: 0.4144, debug_std_frame_5: 0.4730, loss_rl: -0.1947, loss_critic: 1.5457, loss_rl_bc: 0.0147, il_score: 0.5959, rl_score: 0.6421, prev_frame_loss_waypoint_0: 0.2438, prev_frame_loss_rl_bc_0: 0.0212, loss: 1.8819, grad_norm: 70.5191, il_score_sum: 64.4020, rl_score_sum: 66.2119, score_diff: -1.8099, il_win: 76.0000, rl_win: 242.9500
2025-09-24 11:53:44,860 - mmdet - INFO - Epoch [14][3120/3517]	lr: 2.177e-05, eta: 7:56:11, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1989, debug_std_frame_0: 0.2233, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3144, debug_std_frame_3: 0.3740, debug_std_frame_4: 0.4290, debug_std_frame_5: 0.4889, loss_rl: -0.2235, loss_critic: 1.3568, loss_rl_bc: 0.0111, il_score: 0.6186, rl_score: 0.6394, prev_frame_loss_waypoint_0: 0.2299, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.6188, grad_norm: 57.5006, il_score_sum: 64.4020, rl_score_sum: 66.2119, score_diff: -1.8099, il_win: 76.0000, rl_win: 242.9500
2025-09-24 11:54:00,843 - mmdet - INFO - Epoch [14][3140/3517]	lr: 2.177e-05, eta: 7:55:55, time: 0.800, data_time: 0.014, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1943, debug_std_frame_0: 0.2291, debug_std_frame_1: 0.2660, debug_std_frame_2: 0.3164, debug_std_frame_3: 0.3711, debug_std_frame_4: 0.4278, debug_std_frame_5: 0.4869, loss_rl: -0.2890, loss_critic: 1.2501, loss_rl_bc: 0.0107, il_score: 0.6306, rl_score: 0.6698, prev_frame_loss_waypoint_0: 0.2017, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.4060, grad_norm: 58.7125, il_score_sum: 64.4020, rl_score_sum: 66.2119, score_diff: -1.8099, il_win: 76.0000, rl_win: 242.9500
2025-09-24 11:54:16,704 - mmdet - INFO - Epoch [14][3160/3517]	lr: 2.177e-05, eta: 7:55:39, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1908, debug_std_frame_0: 0.2240, debug_std_frame_1: 0.2601, debug_std_frame_2: 0.3154, debug_std_frame_3: 0.3707, debug_std_frame_4: 0.4273, debug_std_frame_5: 0.4878, loss_rl: -0.2264, loss_critic: 1.2253, loss_rl_bc: 0.0110, il_score: 0.6214, rl_score: 0.6388, prev_frame_loss_waypoint_0: 0.2126, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.4583, grad_norm: 49.5128, il_score_sum: 64.4020, rl_score_sum: 66.2119, score_diff: -1.8099, il_win: 76.0000, rl_win: 242.9500
2025-09-24 11:54:32,874 - mmdet - INFO - Epoch [14][3180/3517]	lr: 2.177e-05, eta: 7:55:23, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1777, debug_std_frame_0: 0.2251, debug_std_frame_1: 0.2572, debug_std_frame_2: 0.3106, debug_std_frame_3: 0.3661, debug_std_frame_4: 0.4236, debug_std_frame_5: 0.4837, loss_rl: -0.2504, loss_critic: 1.3252, loss_rl_bc: 0.0104, il_score: 0.6624, rl_score: 0.6781, prev_frame_loss_waypoint_0: 0.2012, prev_frame_loss_rl_bc_0: 0.0153, loss: 1.5080, grad_norm: 37.5770, il_score_sum: 64.2424, rl_score_sum: 66.1186, score_diff: -1.8762, il_win: 76.0000, rl_win: 243.8500
2025-09-24 11:54:48,759 - mmdet - INFO - Epoch [14][3200/3517]	lr: 2.177e-05, eta: 7:55:07, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1792, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2455, debug_std_frame_2: 0.2933, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.3973, debug_std_frame_5: 0.4544, loss_rl: -0.2611, loss_critic: 1.5832, loss_rl_bc: 0.0115, il_score: 0.6484, rl_score: 0.6621, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.7339, grad_norm: 49.3857, il_score_sum: 64.2424, rl_score_sum: 66.1186, score_diff: -1.8762, il_win: 76.0000, rl_win: 243.8500
2025-09-24 11:55:04,705 - mmdet - INFO - Epoch [14][3220/3517]	lr: 2.177e-05, eta: 7:54:51, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1818, debug_std_frame_0: 0.2199, debug_std_frame_1: 0.2533, debug_std_frame_2: 0.3005, debug_std_frame_3: 0.3505, debug_std_frame_4: 0.4016, debug_std_frame_5: 0.4593, loss_rl: -0.2559, loss_critic: 1.1947, loss_rl_bc: 0.0137, il_score: 0.6538, rl_score: 0.6515, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.3677, grad_norm: 41.3208, il_score_sum: 64.2424, rl_score_sum: 66.1186, score_diff: -1.8762, il_win: 76.0000, rl_win: 243.8500
2025-09-24 11:55:20,694 - mmdet - INFO - Epoch [14][3240/3517]	lr: 2.177e-05, eta: 7:54:34, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1993, debug_std_frame_0: 0.2332, debug_std_frame_1: 0.2736, debug_std_frame_2: 0.3286, debug_std_frame_3: 0.3832, debug_std_frame_4: 0.4412, debug_std_frame_5: 0.5048, loss_rl: -0.2016, loss_critic: 1.4176, loss_rl_bc: 0.0173, il_score: 0.5990, rl_score: 0.6233, prev_frame_loss_waypoint_0: 0.2201, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.7011, grad_norm: 61.7870, il_score_sum: 64.2424, rl_score_sum: 66.1186, score_diff: -1.8762, il_win: 76.0000, rl_win: 243.8500
2025-09-24 11:55:36,509 - mmdet - INFO - Epoch [14][3260/3517]	lr: 2.177e-05, eta: 7:54:18, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1782, debug_std_frame_0: 0.2324, debug_std_frame_1: 0.2719, debug_std_frame_2: 0.3232, debug_std_frame_3: 0.3779, debug_std_frame_4: 0.4356, debug_std_frame_5: 0.4921, loss_rl: -0.2632, loss_critic: 1.6066, loss_rl_bc: 0.0085, il_score: 0.6612, rl_score: 0.6687, prev_frame_loss_waypoint_0: 0.2168, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.7949, grad_norm: 40.6348, il_score_sum: 64.2424, rl_score_sum: 66.1186, score_diff: -1.8762, il_win: 76.0000, rl_win: 243.8500
2025-09-24 11:55:52,675 - mmdet - INFO - Epoch [14][3280/3517]	lr: 2.177e-05, eta: 7:54:02, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1909, debug_std_frame_0: 0.2330, debug_std_frame_1: 0.2706, debug_std_frame_2: 0.3233, debug_std_frame_3: 0.3780, debug_std_frame_4: 0.4362, debug_std_frame_5: 0.4960, loss_rl: -0.2640, loss_critic: 1.3918, loss_rl_bc: 0.0131, il_score: 0.6455, rl_score: 0.6722, prev_frame_loss_waypoint_0: 0.1826, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.5530, grad_norm: 46.1827, il_score_sum: 64.2681, rl_score_sum: 66.0870, score_diff: -1.8189, il_win: 76.0000, rl_win: 244.7500
2025-09-24 11:56:08,371 - mmdet - INFO - Epoch [14][3300/3517]	lr: 2.177e-05, eta: 7:53:46, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1859, debug_std_frame_0: 0.2361, debug_std_frame_1: 0.2675, debug_std_frame_2: 0.3166, debug_std_frame_3: 0.3712, debug_std_frame_4: 0.4274, debug_std_frame_5: 0.4845, loss_rl: -0.2133, loss_critic: 1.5251, loss_rl_bc: 0.0172, il_score: 0.6247, rl_score: 0.6263, prev_frame_loss_waypoint_0: 0.1848, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.7420, grad_norm: 58.6922, il_score_sum: 64.2681, rl_score_sum: 66.0870, score_diff: -1.8189, il_win: 76.0000, rl_win: 244.7500
2025-09-24 11:56:24,163 - mmdet - INFO - Epoch [14][3320/3517]	lr: 2.177e-05, eta: 7:53:30, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1721, debug_std_frame_0: 0.2294, debug_std_frame_1: 0.2629, debug_std_frame_2: 0.3153, debug_std_frame_3: 0.3716, debug_std_frame_4: 0.4317, debug_std_frame_5: 0.4886, loss_rl: -0.2397, loss_critic: 1.1181, loss_rl_bc: 0.0112, il_score: 0.6379, rl_score: 0.6519, prev_frame_loss_waypoint_0: 0.1980, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.2993, grad_norm: 43.9071, il_score_sum: 64.2681, rl_score_sum: 66.0870, score_diff: -1.8189, il_win: 76.0000, rl_win: 244.7500
2025-09-24 11:56:40,149 - mmdet - INFO - Epoch [14][3340/3517]	lr: 2.177e-05, eta: 7:53:13, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1704, debug_std_frame_0: 0.2260, debug_std_frame_1: 0.2566, debug_std_frame_2: 0.3032, debug_std_frame_3: 0.3553, debug_std_frame_4: 0.4126, debug_std_frame_5: 0.4729, loss_rl: -0.2725, loss_critic: 1.1192, loss_rl_bc: 0.0061, il_score: 0.6586, rl_score: 0.6907, prev_frame_loss_waypoint_0: 0.2001, prev_frame_loss_rl_bc_0: 0.0096, loss: 1.2620, grad_norm: 43.2094, il_score_sum: 64.2681, rl_score_sum: 66.0870, score_diff: -1.8189, il_win: 76.0000, rl_win: 244.7500
2025-09-24 11:56:56,139 - mmdet - INFO - Epoch [14][3360/3517]	lr: 2.177e-05, eta: 7:52:57, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1549, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.2889, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4425, loss_rl: -0.2601, loss_critic: 1.8611, loss_rl_bc: 0.0057, il_score: 0.6503, rl_score: 0.6580, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.9685, grad_norm: 48.0901, il_score_sum: 64.2681, rl_score_sum: 66.0870, score_diff: -1.8189, il_win: 76.0000, rl_win: 244.7500
2025-09-24 11:57:12,271 - mmdet - INFO - Epoch [14][3380/3517]	lr: 2.177e-05, eta: 7:52:41, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1768, debug_std_frame_0: 0.2205, debug_std_frame_1: 0.2463, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3482, debug_std_frame_4: 0.4107, debug_std_frame_5: 0.4682, loss_rl: -0.2349, loss_critic: 1.0871, loss_rl_bc: 0.0085, il_score: 0.6738, rl_score: 0.6672, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.2565, grad_norm: 37.2880, il_score_sum: 64.2325, rl_score_sum: 66.0337, score_diff: -1.8013, il_win: 76.0000, rl_win: 245.6500
2025-09-24 11:57:27,999 - mmdet - INFO - Epoch [14][3400/3517]	lr: 2.177e-05, eta: 7:52:25, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1702, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2398, debug_std_frame_2: 0.2849, debug_std_frame_3: 0.3375, debug_std_frame_4: 0.3923, debug_std_frame_5: 0.4482, loss_rl: -0.3139, loss_critic: 1.2308, loss_rl_bc: 0.0074, il_score: 0.6735, rl_score: 0.6848, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.3200, grad_norm: 49.2494, il_score_sum: 64.2325, rl_score_sum: 66.0337, score_diff: -1.8013, il_win: 76.0000, rl_win: 245.6500
2025-09-24 11:57:43,948 - mmdet - INFO - Epoch [14][3420/3517]	lr: 2.177e-05, eta: 7:52:09, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1968, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2866, debug_std_frame_3: 0.3392, debug_std_frame_4: 0.3990, debug_std_frame_5: 0.4579, loss_rl: -0.2415, loss_critic: 1.5574, loss_rl_bc: 0.0137, il_score: 0.6536, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.2079, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.7755, grad_norm: 60.2201, il_score_sum: 64.2325, rl_score_sum: 66.0337, score_diff: -1.8013, il_win: 76.0000, rl_win: 245.6500
2025-09-24 11:57:59,999 - mmdet - INFO - Epoch [14][3440/3517]	lr: 2.177e-05, eta: 7:51:53, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1915, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2871, debug_std_frame_3: 0.3372, debug_std_frame_4: 0.3916, debug_std_frame_5: 0.4456, loss_rl: -0.2516, loss_critic: 1.6548, loss_rl_bc: 0.0102, il_score: 0.6215, rl_score: 0.6487, prev_frame_loss_waypoint_0: 0.2046, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.8446, grad_norm: 71.3160, il_score_sum: 64.2325, rl_score_sum: 66.0337, score_diff: -1.8013, il_win: 76.0000, rl_win: 245.6500
2025-09-24 11:58:16,072 - mmdet - INFO - Epoch [14][3460/3517]	lr: 2.177e-05, eta: 7:51:37, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1880, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2414, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3458, debug_std_frame_4: 0.4035, debug_std_frame_5: 0.4628, loss_rl: -0.2520, loss_critic: 1.3478, loss_rl_bc: 0.0081, il_score: 0.6395, rl_score: 0.6612, prev_frame_loss_waypoint_0: 0.2237, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.5591, grad_norm: 65.8940, il_score_sum: 64.2325, rl_score_sum: 66.0337, score_diff: -1.8013, il_win: 76.0000, rl_win: 245.6500
2025-09-24 11:58:32,201 - mmdet - INFO - Epoch [14][3480/3517]	lr: 2.177e-05, eta: 7:51:21, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.2024, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2491, debug_std_frame_2: 0.3049, debug_std_frame_3: 0.3623, debug_std_frame_4: 0.4216, debug_std_frame_5: 0.4794, loss_rl: -0.2195, loss_critic: 1.2502, loss_rl_bc: 0.0172, il_score: 0.5965, rl_score: 0.6241, prev_frame_loss_waypoint_0: 0.2033, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.4942, grad_norm: 63.3502, il_score_sum: 64.1774, rl_score_sum: 65.9776, score_diff: -1.8002, il_win: 76.0000, rl_win: 246.5500
2025-09-24 11:58:47,912 - mmdet - INFO - Epoch [14][3500/3517]	lr: 2.177e-05, eta: 7:51:04, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0304, loss_waypoint: 0.1699, debug_std_frame_0: 0.2208, debug_std_frame_1: 0.2537, debug_std_frame_2: 0.3072, debug_std_frame_3: 0.3641, debug_std_frame_4: 0.4233, debug_std_frame_5: 0.4795, loss_rl: -0.2235, loss_critic: 1.3603, loss_rl_bc: 0.0079, il_score: 0.6540, rl_score: 0.6702, prev_frame_loss_waypoint_0: 0.2078, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.5713, grad_norm: 57.0922, il_score_sum: 64.1774, rl_score_sum: 65.9776, score_diff: -1.8002, il_win: 76.0000, rl_win: 246.5500
2025-09-24 11:59:01,028 - mmdet - INFO - Saving checkpoint at 14 epochs
2025-09-24 12:01:35,332 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 12:01:35,332 - mmdet - INFO - Epoch(val) [14][753]	plan_L2_1s: 0.3824, plan_L2_2s: 0.7179, plan_L2_3s: 1.1559, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0053, plan_obj_box_col_2s: 0.0037, plan_obj_box_col_3s: 0.0072, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3542, plan_L2_2s_rl_actor: 0.6730, plan_L2_3s_rl_actor: 1.0970, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0000, plan_obj_box_col_1s_rl_actor: 0.0095, plan_obj_box_col_2s_rl_actor: 0.0117, plan_obj_box_col_3s_rl_actor: 0.0159, fut_valid_flag_rl_actor: 1.0000
2025-09-24 12:01:59,423 - mmdet - INFO - Epoch [15][20/3517]	lr: 1.856e-05, eta: 7:50:31, time: 1.204, data_time: 0.343, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1913, debug_std_frame_0: 0.2190, debug_std_frame_1: 0.2485, debug_std_frame_2: 0.2972, debug_std_frame_3: 0.3487, debug_std_frame_4: 0.4003, debug_std_frame_5: 0.4535, loss_rl: -0.2292, loss_critic: 1.1854, loss_rl_bc: 0.0091, il_score: 0.6193, rl_score: 0.6548, prev_frame_loss_waypoint_0: 0.2152, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.4143, grad_norm: 65.4238
2025-09-24 12:02:15,750 - mmdet - INFO - Epoch [15][40/3517]	lr: 1.856e-05, eta: 7:50:15, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1891, debug_std_frame_0: 0.2220, debug_std_frame_1: 0.2540, debug_std_frame_2: 0.3078, debug_std_frame_3: 0.3624, debug_std_frame_4: 0.4169, debug_std_frame_5: 0.4687, loss_rl: -0.2601, loss_critic: 0.9707, loss_rl_bc: 0.0125, il_score: 0.6850, rl_score: 0.6875, prev_frame_loss_waypoint_0: 0.2153, prev_frame_loss_rl_bc_0: 0.0194, loss: 1.1766, grad_norm: 52.3435
2025-09-24 12:02:32,193 - mmdet - INFO - Epoch [15][60/3517]	lr: 1.856e-05, eta: 7:49:59, time: 0.822, data_time: 0.014, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1783, debug_std_frame_0: 0.2184, debug_std_frame_1: 0.2527, debug_std_frame_2: 0.3052, debug_std_frame_3: 0.3614, debug_std_frame_4: 0.4165, debug_std_frame_5: 0.4688, loss_rl: -0.2776, loss_critic: 1.4857, loss_rl_bc: 0.0098, il_score: 0.6693, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.2034, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.6412, grad_norm: 51.5780
2025-09-24 12:02:48,828 - mmdet - INFO - Epoch [15][80/3517]	lr: 1.856e-05, eta: 7:49:43, time: 0.832, data_time: 0.014, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1922, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2444, debug_std_frame_2: 0.2983, debug_std_frame_3: 0.3539, debug_std_frame_4: 0.4103, debug_std_frame_5: 0.4646, loss_rl: -0.2533, loss_critic: 1.3388, loss_rl_bc: 0.0109, il_score: 0.6353, rl_score: 0.6557, prev_frame_loss_waypoint_0: 0.2054, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.5344, grad_norm: 55.9105, il_score_sum: 65.7988, rl_score_sum: 67.1844, score_diff: -1.3857, il_win: 76.0000, rl_win: 257.0000
2025-09-24 12:03:05,113 - mmdet - INFO - Epoch [15][100/3517]	lr: 1.856e-05, eta: 7:49:27, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1912, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2587, debug_std_frame_2: 0.3182, debug_std_frame_3: 0.3807, debug_std_frame_4: 0.4402, debug_std_frame_5: 0.4958, loss_rl: -0.2399, loss_critic: 1.3549, loss_rl_bc: 0.0090, il_score: 0.6187, rl_score: 0.6559, prev_frame_loss_waypoint_0: 0.2075, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.5653, grad_norm: 54.9662, il_score_sum: 65.7988, rl_score_sum: 67.1844, score_diff: -1.3857, il_win: 76.0000, rl_win: 257.0000
2025-09-24 12:03:21,435 - mmdet - INFO - Epoch [15][120/3517]	lr: 1.856e-05, eta: 7:49:11, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0299, loss_waypoint: 0.1766, debug_std_frame_0: 0.2140, debug_std_frame_1: 0.2489, debug_std_frame_2: 0.3059, debug_std_frame_3: 0.3620, debug_std_frame_4: 0.4178, debug_std_frame_5: 0.4704, loss_rl: -0.2442, loss_critic: 1.2928, loss_rl_bc: 0.0057, il_score: 0.6414, rl_score: 0.6485, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4508, grad_norm: 47.8293, il_score_sum: 65.7988, rl_score_sum: 67.1844, score_diff: -1.3857, il_win: 76.0000, rl_win: 257.0000
2025-09-24 12:03:37,586 - mmdet - INFO - Epoch [15][140/3517]	lr: 1.856e-05, eta: 7:48:55, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0303, loss_waypoint: 0.1661, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2432, debug_std_frame_2: 0.2987, debug_std_frame_3: 0.3568, debug_std_frame_4: 0.4130, debug_std_frame_5: 0.4688, loss_rl: -0.2667, loss_critic: 1.1861, loss_rl_bc: 0.0042, il_score: 0.6680, rl_score: 0.6973, prev_frame_loss_waypoint_0: 0.1878, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.3167, grad_norm: 43.8741, il_score_sum: 65.7988, rl_score_sum: 67.1844, score_diff: -1.3857, il_win: 76.0000, rl_win: 257.0000
2025-09-24 12:03:54,023 - mmdet - INFO - Epoch [15][160/3517]	lr: 1.856e-05, eta: 7:48:40, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0315, loss_waypoint: 0.2054, debug_std_frame_0: 0.2137, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2910, debug_std_frame_3: 0.3458, debug_std_frame_4: 0.4013, debug_std_frame_5: 0.4563, loss_rl: -0.2402, loss_critic: 1.3330, loss_rl_bc: 0.0141, il_score: 0.6489, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.2050, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.5596, grad_norm: 61.5796, il_score_sum: 65.7988, rl_score_sum: 67.1844, score_diff: -1.3857, il_win: 76.0000, rl_win: 257.0000
2025-09-24 12:04:10,369 - mmdet - INFO - Epoch [15][180/3517]	lr: 1.856e-05, eta: 7:48:24, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1779, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2426, debug_std_frame_2: 0.2909, debug_std_frame_3: 0.3430, debug_std_frame_4: 0.3974, debug_std_frame_5: 0.4503, loss_rl: -0.2520, loss_critic: 1.2605, loss_rl_bc: 0.0084, il_score: 0.6756, rl_score: 0.6774, prev_frame_loss_waypoint_0: 0.2007, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.4345, grad_norm: 60.9923, il_score_sum: 65.0948, rl_score_sum: 66.8914, score_diff: -1.7966, il_win: 76.0000, rl_win: 257.5000
2025-09-24 12:04:26,479 - mmdet - INFO - Epoch [15][200/3517]	lr: 1.856e-05, eta: 7:48:08, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1759, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2895, debug_std_frame_3: 0.3419, debug_std_frame_4: 0.3952, debug_std_frame_5: 0.4463, loss_rl: -0.2793, loss_critic: 1.2947, loss_rl_bc: 0.0078, il_score: 0.6513, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.1777, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4136, grad_norm: 50.6486, il_score_sum: 65.0948, rl_score_sum: 66.8914, score_diff: -1.7966, il_win: 76.0000, rl_win: 257.5000
2025-09-24 12:04:42,650 - mmdet - INFO - Epoch [15][220/3517]	lr: 1.856e-05, eta: 7:47:52, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1743, debug_std_frame_0: 0.2165, debug_std_frame_1: 0.2450, debug_std_frame_2: 0.2959, debug_std_frame_3: 0.3476, debug_std_frame_4: 0.4029, debug_std_frame_5: 0.4593, loss_rl: -0.2529, loss_critic: 1.4213, loss_rl_bc: 0.0086, il_score: 0.6708, rl_score: 0.6743, prev_frame_loss_waypoint_0: 0.1825, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.5659, grad_norm: 45.9965, il_score_sum: 65.0948, rl_score_sum: 66.8914, score_diff: -1.7966, il_win: 76.0000, rl_win: 257.5000
2025-09-24 12:04:58,798 - mmdet - INFO - Epoch [15][240/3517]	lr: 1.856e-05, eta: 7:47:36, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1883, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2834, debug_std_frame_3: 0.3334, debug_std_frame_4: 0.3872, debug_std_frame_5: 0.4393, loss_rl: -0.2552, loss_critic: 1.4366, loss_rl_bc: 0.0078, il_score: 0.6212, rl_score: 0.6686, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.5958, grad_norm: 62.5336, il_score_sum: 65.0948, rl_score_sum: 66.8914, score_diff: -1.7966, il_win: 76.0000, rl_win: 257.5000
2025-09-24 12:05:14,719 - mmdet - INFO - Epoch [15][260/3517]	lr: 1.856e-05, eta: 7:47:20, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1699, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2883, debug_std_frame_3: 0.3390, debug_std_frame_4: 0.3906, debug_std_frame_5: 0.4419, loss_rl: -0.2190, loss_critic: 1.1912, loss_rl_bc: 0.0068, il_score: 0.6115, rl_score: 0.6420, prev_frame_loss_waypoint_0: 0.1819, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.3673, grad_norm: 43.7816, il_score_sum: 65.0948, rl_score_sum: 66.8914, score_diff: -1.7966, il_win: 76.0000, rl_win: 257.5000
2025-09-24 12:05:30,978 - mmdet - INFO - Epoch [15][280/3517]	lr: 1.856e-05, eta: 7:47:04, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1895, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2894, debug_std_frame_3: 0.3427, debug_std_frame_4: 0.3948, debug_std_frame_5: 0.4463, loss_rl: -0.2789, loss_critic: 1.6066, loss_rl_bc: 0.0124, il_score: 0.6365, rl_score: 0.6535, prev_frame_loss_waypoint_0: 0.2089, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.7825, grad_norm: 45.9276, il_score_sum: 64.9177, rl_score_sum: 66.7698, score_diff: -1.8520, il_win: 76.0000, rl_win: 258.0000
2025-09-24 12:05:47,271 - mmdet - INFO - Epoch [15][300/3517]	lr: 1.856e-05, eta: 7:46:48, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0299, loss_waypoint: 0.1634, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2470, debug_std_frame_2: 0.2980, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4028, debug_std_frame_5: 0.4545, loss_rl: -0.2240, loss_critic: 1.4683, loss_rl_bc: 0.0071, il_score: 0.6638, rl_score: 0.6527, prev_frame_loss_waypoint_0: 0.1915, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.6460, grad_norm: 43.9944, il_score_sum: 64.9177, rl_score_sum: 66.7698, score_diff: -1.8520, il_win: 76.0000, rl_win: 258.0000
2025-09-24 12:06:03,560 - mmdet - INFO - Epoch [15][320/3517]	lr: 1.856e-05, eta: 7:46:32, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1860, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2483, debug_std_frame_2: 0.3016, debug_std_frame_3: 0.3550, debug_std_frame_4: 0.4161, debug_std_frame_5: 0.4707, loss_rl: -0.1930, loss_critic: 1.1170, loss_rl_bc: 0.0133, il_score: 0.6493, rl_score: 0.6530, prev_frame_loss_waypoint_0: 0.1958, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.3590, grad_norm: 59.0411, il_score_sum: 64.9177, rl_score_sum: 66.7698, score_diff: -1.8520, il_win: 76.0000, rl_win: 258.0000
2025-09-24 12:06:19,623 - mmdet - INFO - Epoch [15][340/3517]	lr: 1.856e-05, eta: 7:46:16, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.2144, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.3000, debug_std_frame_3: 0.3555, debug_std_frame_4: 0.4150, debug_std_frame_5: 0.4714, loss_rl: -0.2137, loss_critic: 1.2204, loss_rl_bc: 0.0154, il_score: 0.6318, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.2121, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.4887, grad_norm: 59.1506, il_score_sum: 64.9177, rl_score_sum: 66.7698, score_diff: -1.8520, il_win: 76.0000, rl_win: 258.0000
2025-09-24 12:06:35,824 - mmdet - INFO - Epoch [15][360/3517]	lr: 1.856e-05, eta: 7:46:00, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0307, loss_waypoint: 0.1825, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2913, debug_std_frame_3: 0.3433, debug_std_frame_4: 0.4012, debug_std_frame_5: 0.4567, loss_rl: -0.2508, loss_critic: 1.6353, loss_rl_bc: 0.0145, il_score: 0.6411, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.1918, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.8137, grad_norm: 53.7500, il_score_sum: 64.9177, rl_score_sum: 66.7698, score_diff: -1.8520, il_win: 76.0000, rl_win: 258.0000
2025-09-24 12:06:51,939 - mmdet - INFO - Epoch [15][380/3517]	lr: 1.856e-05, eta: 7:45:44, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1740, debug_std_frame_0: 0.2142, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.2958, debug_std_frame_3: 0.3496, debug_std_frame_4: 0.4077, debug_std_frame_5: 0.4638, loss_rl: -0.2478, loss_critic: 1.4549, loss_rl_bc: 0.0083, il_score: 0.6493, rl_score: 0.6617, prev_frame_loss_waypoint_0: 0.1818, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.6085, grad_norm: 46.3652, il_score_sum: 64.8061, rl_score_sum: 66.4663, score_diff: -1.6602, il_win: 76.0000, rl_win: 258.5000
2025-09-24 12:07:08,080 - mmdet - INFO - Epoch [15][400/3517]	lr: 1.856e-05, eta: 7:45:28, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1803, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2333, debug_std_frame_2: 0.2782, debug_std_frame_3: 0.3276, debug_std_frame_4: 0.3790, debug_std_frame_5: 0.4308, loss_rl: -0.2535, loss_critic: 1.1192, loss_rl_bc: 0.0079, il_score: 0.6783, rl_score: 0.6927, prev_frame_loss_waypoint_0: 0.2013, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.2948, grad_norm: 66.2510, il_score_sum: 64.8061, rl_score_sum: 66.4663, score_diff: -1.6602, il_win: 76.0000, rl_win: 258.5000
2025-09-24 12:07:24,052 - mmdet - INFO - Epoch [15][420/3517]	lr: 1.856e-05, eta: 7:45:12, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1881, debug_std_frame_0: 0.2178, debug_std_frame_1: 0.2469, debug_std_frame_2: 0.2980, debug_std_frame_3: 0.3538, debug_std_frame_4: 0.4132, debug_std_frame_5: 0.4716, loss_rl: -0.2418, loss_critic: 1.4654, loss_rl_bc: 0.0142, il_score: 0.6399, rl_score: 0.6404, prev_frame_loss_waypoint_0: 0.2191, prev_frame_loss_rl_bc_0: 0.0154, loss: 1.6891, grad_norm: 59.8432, il_score_sum: 64.8061, rl_score_sum: 66.4663, score_diff: -1.6602, il_win: 76.0000, rl_win: 258.5000
2025-09-24 12:07:40,011 - mmdet - INFO - Epoch [15][440/3517]	lr: 1.856e-05, eta: 7:44:56, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0309, loss_waypoint: 0.1793, debug_std_frame_0: 0.2181, debug_std_frame_1: 0.2508, debug_std_frame_2: 0.3050, debug_std_frame_3: 0.3599, debug_std_frame_4: 0.4189, debug_std_frame_5: 0.4784, loss_rl: -0.2681, loss_critic: 1.5785, loss_rl_bc: 0.0081, il_score: 0.6391, rl_score: 0.6440, prev_frame_loss_waypoint_0: 0.2005, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.7417, grad_norm: 54.0074, il_score_sum: 64.8061, rl_score_sum: 66.4663, score_diff: -1.6602, il_win: 76.0000, rl_win: 258.5000
2025-09-24 12:07:56,199 - mmdet - INFO - Epoch [15][460/3517]	lr: 1.856e-05, eta: 7:44:40, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0305, loss_waypoint: 0.1873, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3434, debug_std_frame_4: 0.3995, debug_std_frame_5: 0.4563, loss_rl: -0.2501, loss_critic: 1.1470, loss_rl_bc: 0.0094, il_score: 0.6583, rl_score: 0.6732, prev_frame_loss_waypoint_0: 0.2024, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.3384, grad_norm: 41.7219, il_score_sum: 64.8061, rl_score_sum: 66.4663, score_diff: -1.6602, il_win: 76.0000, rl_win: 258.5000
2025-09-24 12:08:12,368 - mmdet - INFO - Epoch [15][480/3517]	lr: 1.856e-05, eta: 7:44:24, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1931, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2910, debug_std_frame_3: 0.3465, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4618, loss_rl: -0.2341, loss_critic: 1.3998, loss_rl_bc: 0.0131, il_score: 0.6507, rl_score: 0.6671, prev_frame_loss_waypoint_0: 0.1991, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6117, grad_norm: 47.2919, il_score_sum: 64.8599, rl_score_sum: 66.3977, score_diff: -1.5378, il_win: 76.0000, rl_win: 259.0000
2025-09-24 12:08:28,380 - mmdet - INFO - Epoch [15][500/3517]	lr: 1.856e-05, eta: 7:44:07, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.2044, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.3005, debug_std_frame_3: 0.3607, debug_std_frame_4: 0.4224, debug_std_frame_5: 0.4853, loss_rl: -0.2305, loss_critic: 1.1563, loss_rl_bc: 0.0161, il_score: 0.6555, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.2003, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.3851, grad_norm: 42.7201, il_score_sum: 64.8599, rl_score_sum: 66.3977, score_diff: -1.5378, il_win: 76.0000, rl_win: 259.0000
2025-09-24 12:08:44,547 - mmdet - INFO - Epoch [15][520/3517]	lr: 1.856e-05, eta: 7:43:51, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1903, debug_std_frame_0: 0.2174, debug_std_frame_1: 0.2495, debug_std_frame_2: 0.3028, debug_std_frame_3: 0.3604, debug_std_frame_4: 0.4191, debug_std_frame_5: 0.4736, loss_rl: -0.2265, loss_critic: 1.4650, loss_rl_bc: 0.0120, il_score: 0.5892, rl_score: 0.6345, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0161, loss: 1.6845, grad_norm: 55.6430, il_score_sum: 64.8599, rl_score_sum: 66.3977, score_diff: -1.5378, il_win: 76.0000, rl_win: 259.0000
2025-09-24 12:09:00,616 - mmdet - INFO - Epoch [15][540/3517]	lr: 1.856e-05, eta: 7:43:35, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1923, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2526, debug_std_frame_2: 0.3057, debug_std_frame_3: 0.3616, debug_std_frame_4: 0.4190, debug_std_frame_5: 0.4741, loss_rl: -0.2444, loss_critic: 1.3258, loss_rl_bc: 0.0133, il_score: 0.6400, rl_score: 0.6705, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.5207, grad_norm: 63.0288, il_score_sum: 64.8599, rl_score_sum: 66.3977, score_diff: -1.5378, il_win: 76.0000, rl_win: 259.0000
2025-09-24 12:09:16,624 - mmdet - INFO - Epoch [15][560/3517]	lr: 1.856e-05, eta: 7:43:19, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1618, debug_std_frame_0: 0.2241, debug_std_frame_1: 0.2598, debug_std_frame_2: 0.3078, debug_std_frame_3: 0.3607, debug_std_frame_4: 0.4164, debug_std_frame_5: 0.4720, loss_rl: -0.2558, loss_critic: 1.3044, loss_rl_bc: 0.0112, il_score: 0.6409, rl_score: 0.6570, prev_frame_loss_waypoint_0: 0.1726, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.4370, grad_norm: 52.7784, il_score_sum: 64.8599, rl_score_sum: 66.3977, score_diff: -1.5378, il_win: 76.0000, rl_win: 259.0000
2025-09-24 12:09:32,679 - mmdet - INFO - Epoch [15][580/3517]	lr: 1.856e-05, eta: 7:43:03, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0314, loss_waypoint: 0.1787, debug_std_frame_0: 0.2275, debug_std_frame_1: 0.2643, debug_std_frame_2: 0.3166, debug_std_frame_3: 0.3717, debug_std_frame_4: 0.4299, debug_std_frame_5: 0.4826, loss_rl: -0.2297, loss_critic: 1.1234, loss_rl_bc: 0.0095, il_score: 0.6716, rl_score: 0.6723, prev_frame_loss_waypoint_0: 0.1947, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.3201, grad_norm: 56.1742, il_score_sum: 64.6704, rl_score_sum: 66.3204, score_diff: -1.6501, il_win: 76.0000, rl_win: 259.5000
2025-09-24 12:09:48,802 - mmdet - INFO - Epoch [15][600/3517]	lr: 1.856e-05, eta: 7:42:47, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1950, debug_std_frame_0: 0.2254, debug_std_frame_1: 0.2585, debug_std_frame_2: 0.3069, debug_std_frame_3: 0.3592, debug_std_frame_4: 0.4165, debug_std_frame_5: 0.4708, loss_rl: -0.2431, loss_critic: 1.3337, loss_rl_bc: 0.0144, il_score: 0.6368, rl_score: 0.6446, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.5243, grad_norm: 42.5690, il_score_sum: 64.6704, rl_score_sum: 66.3204, score_diff: -1.6501, il_win: 76.0000, rl_win: 259.5000
2025-09-24 12:10:05,131 - mmdet - INFO - Epoch [15][620/3517]	lr: 1.856e-05, eta: 7:42:31, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1687, debug_std_frame_0: 0.2153, debug_std_frame_1: 0.2498, debug_std_frame_2: 0.2977, debug_std_frame_3: 0.3510, debug_std_frame_4: 0.4095, debug_std_frame_5: 0.4620, loss_rl: -0.2118, loss_critic: 1.4311, loss_rl_bc: 0.0065, il_score: 0.6667, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1759, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.6056, grad_norm: 47.8554, il_score_sum: 64.6704, rl_score_sum: 66.3204, score_diff: -1.6501, il_win: 76.0000, rl_win: 259.5000
2025-09-24 12:10:21,188 - mmdet - INFO - Epoch [15][640/3517]	lr: 1.856e-05, eta: 7:42:15, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1962, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2396, debug_std_frame_2: 0.2887, debug_std_frame_3: 0.3441, debug_std_frame_4: 0.4046, debug_std_frame_5: 0.4635, loss_rl: -0.2084, loss_critic: 1.3618, loss_rl_bc: 0.0113, il_score: 0.5988, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.2108, prev_frame_loss_rl_bc_0: 0.0096, loss: 1.6092, grad_norm: 52.2022, il_score_sum: 64.6704, rl_score_sum: 66.3204, score_diff: -1.6501, il_win: 76.0000, rl_win: 259.5000
2025-09-24 12:10:37,029 - mmdet - INFO - Epoch [15][660/3517]	lr: 1.856e-05, eta: 7:41:59, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1771, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2419, debug_std_frame_2: 0.2878, debug_std_frame_3: 0.3401, debug_std_frame_4: 0.3954, debug_std_frame_5: 0.4486, loss_rl: -0.2576, loss_critic: 1.2828, loss_rl_bc: 0.0068, il_score: 0.6591, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.2065, prev_frame_loss_rl_bc_0: 0.0334, loss: 1.4773, grad_norm: 46.4340, il_score_sum: 64.6704, rl_score_sum: 66.3204, score_diff: -1.6501, il_win: 76.0000, rl_win: 259.5000
2025-09-24 12:10:52,867 - mmdet - INFO - Epoch [15][680/3517]	lr: 1.856e-05, eta: 7:41:43, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1751, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2521, debug_std_frame_2: 0.3019, debug_std_frame_3: 0.3557, debug_std_frame_4: 0.4151, debug_std_frame_5: 0.4686, loss_rl: -0.1906, loss_critic: 1.2431, loss_rl_bc: 0.0104, il_score: 0.6407, rl_score: 0.6437, prev_frame_loss_waypoint_0: 0.1816, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.4540, grad_norm: 43.1931, il_score_sum: 64.6368, rl_score_sum: 66.3496, score_diff: -1.7127, il_win: 76.0000, rl_win: 260.0000
2025-09-24 12:11:08,970 - mmdet - INFO - Epoch [15][700/3517]	lr: 1.856e-05, eta: 7:41:27, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1695, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2463, debug_std_frame_2: 0.2925, debug_std_frame_3: 0.3448, debug_std_frame_4: 0.4014, debug_std_frame_5: 0.4496, loss_rl: -0.3050, loss_critic: 1.2107, loss_rl_bc: 0.0058, il_score: 0.6739, rl_score: 0.6897, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.2903, grad_norm: 38.2108, il_score_sum: 64.6368, rl_score_sum: 66.3496, score_diff: -1.7127, il_win: 76.0000, rl_win: 260.0000
2025-09-24 12:11:24,934 - mmdet - INFO - Epoch [15][720/3517]	lr: 1.856e-05, eta: 7:41:11, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1868, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2499, debug_std_frame_2: 0.2946, debug_std_frame_3: 0.3461, debug_std_frame_4: 0.4012, debug_std_frame_5: 0.4559, loss_rl: -0.2670, loss_critic: 1.4315, loss_rl_bc: 0.0104, il_score: 0.6408, rl_score: 0.6710, prev_frame_loss_waypoint_0: 0.1856, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.5815, grad_norm: 55.6364, il_score_sum: 64.6368, rl_score_sum: 66.3496, score_diff: -1.7127, il_win: 76.0000, rl_win: 260.0000
2025-09-24 12:11:40,790 - mmdet - INFO - Epoch [15][740/3517]	lr: 1.856e-05, eta: 7:40:54, time: 0.793, data_time: 0.014, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1752, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2416, debug_std_frame_2: 0.2846, debug_std_frame_3: 0.3332, debug_std_frame_4: 0.3855, debug_std_frame_5: 0.4359, loss_rl: -0.2044, loss_critic: 1.5212, loss_rl_bc: 0.0133, il_score: 0.6666, rl_score: 0.6583, prev_frame_loss_waypoint_0: 0.1892, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.7382, grad_norm: 59.6649, il_score_sum: 64.6368, rl_score_sum: 66.3496, score_diff: -1.7127, il_win: 76.0000, rl_win: 260.0000
2025-09-24 12:11:56,595 - mmdet - INFO - Epoch [15][760/3517]	lr: 1.856e-05, eta: 7:40:38, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1695, debug_std_frame_0: 0.2218, debug_std_frame_1: 0.2513, debug_std_frame_2: 0.2940, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3944, debug_std_frame_5: 0.4520, loss_rl: -0.2464, loss_critic: 1.4381, loss_rl_bc: 0.0082, il_score: 0.6434, rl_score: 0.6715, prev_frame_loss_waypoint_0: 0.1852, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5948, grad_norm: 44.2500, il_score_sum: 64.6368, rl_score_sum: 66.3496, score_diff: -1.7127, il_win: 76.0000, rl_win: 260.0000
2025-09-24 12:12:12,868 - mmdet - INFO - Epoch [15][780/3517]	lr: 1.856e-05, eta: 7:40:22, time: 0.814, data_time: 0.014, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.2025, debug_std_frame_0: 0.2223, debug_std_frame_1: 0.2529, debug_std_frame_2: 0.3028, debug_std_frame_3: 0.3536, debug_std_frame_4: 0.4123, debug_std_frame_5: 0.4728, loss_rl: -0.1783, loss_critic: 1.2754, loss_rl_bc: 0.0127, il_score: 0.6702, rl_score: 0.6694, prev_frame_loss_waypoint_0: 0.2385, prev_frame_loss_rl_bc_0: 0.0198, loss: 1.6007, grad_norm: 57.3197, il_score_sum: 64.7399, rl_score_sum: 66.3677, score_diff: -1.6278, il_win: 76.0000, rl_win: 260.5000
2025-09-24 12:12:28,927 - mmdet - INFO - Epoch [15][800/3517]	lr: 1.856e-05, eta: 7:40:06, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1803, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2504, debug_std_frame_2: 0.2995, debug_std_frame_3: 0.3530, debug_std_frame_4: 0.4120, debug_std_frame_5: 0.4711, loss_rl: -0.2028, loss_critic: 1.0730, loss_rl_bc: 0.0092, il_score: 0.6498, rl_score: 0.6732, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.3055, grad_norm: 50.7413, il_score_sum: 64.7399, rl_score_sum: 66.3677, score_diff: -1.6278, il_win: 76.0000, rl_win: 260.5000
2025-09-24 12:12:44,942 - mmdet - INFO - Epoch [15][820/3517]	lr: 1.856e-05, eta: 7:39:50, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1826, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2470, debug_std_frame_2: 0.2958, debug_std_frame_3: 0.3480, debug_std_frame_4: 0.4048, debug_std_frame_5: 0.4614, loss_rl: -0.2407, loss_critic: 1.1954, loss_rl_bc: 0.0084, il_score: 0.6509, rl_score: 0.6687, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.3793, grad_norm: 40.9464, il_score_sum: 64.7399, rl_score_sum: 66.3677, score_diff: -1.6278, il_win: 76.0000, rl_win: 260.5000
2025-09-24 12:13:00,768 - mmdet - INFO - Epoch [15][840/3517]	lr: 1.856e-05, eta: 7:39:34, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1650, debug_std_frame_0: 0.2194, debug_std_frame_1: 0.2498, debug_std_frame_2: 0.2967, debug_std_frame_3: 0.3445, debug_std_frame_4: 0.3994, debug_std_frame_5: 0.4557, loss_rl: -0.2852, loss_critic: 1.4827, loss_rl_bc: 0.0089, il_score: 0.6403, rl_score: 0.6489, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5994, grad_norm: 44.9687, il_score_sum: 64.7399, rl_score_sum: 66.3677, score_diff: -1.6278, il_win: 76.0000, rl_win: 260.5000
2025-09-24 12:13:16,894 - mmdet - INFO - Epoch [15][860/3517]	lr: 1.856e-05, eta: 7:39:18, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.2000, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2936, debug_std_frame_3: 0.3451, debug_std_frame_4: 0.4016, debug_std_frame_5: 0.4577, loss_rl: -0.1970, loss_critic: 1.3720, loss_rl_bc: 0.0117, il_score: 0.6298, rl_score: 0.6515, prev_frame_loss_waypoint_0: 0.2084, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.6366, grad_norm: 61.1021, il_score_sum: 64.7399, rl_score_sum: 66.3677, score_diff: -1.6278, il_win: 76.0000, rl_win: 260.5000
2025-09-24 12:13:33,053 - mmdet - INFO - Epoch [15][880/3517]	lr: 1.856e-05, eta: 7:39:02, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0304, loss_waypoint: 0.1522, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2391, debug_std_frame_2: 0.2857, debug_std_frame_3: 0.3331, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4380, loss_rl: -0.2552, loss_critic: 1.1631, loss_rl_bc: 0.0040, il_score: 0.6814, rl_score: 0.6967, prev_frame_loss_waypoint_0: 0.1703, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.2699, grad_norm: 49.1490, il_score_sum: 64.7614, rl_score_sum: 66.3808, score_diff: -1.6194, il_win: 76.0000, rl_win: 261.0000
2025-09-24 12:13:48,931 - mmdet - INFO - Epoch [15][900/3517]	lr: 1.856e-05, eta: 7:38:46, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1953, debug_std_frame_0: 0.2131, debug_std_frame_1: 0.2442, debug_std_frame_2: 0.2978, debug_std_frame_3: 0.3537, debug_std_frame_4: 0.4128, debug_std_frame_5: 0.4703, loss_rl: -0.2513, loss_critic: 1.2063, loss_rl_bc: 0.0071, il_score: 0.6246, rl_score: 0.6774, prev_frame_loss_waypoint_0: 0.2146, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4131, grad_norm: 56.5550, il_score_sum: 64.7614, rl_score_sum: 66.3808, score_diff: -1.6194, il_win: 76.0000, rl_win: 261.0000
2025-09-24 12:14:04,945 - mmdet - INFO - Epoch [15][920/3517]	lr: 1.856e-05, eta: 7:38:30, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1964, debug_std_frame_0: 0.2174, debug_std_frame_1: 0.2463, debug_std_frame_2: 0.2964, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.4048, debug_std_frame_5: 0.4597, loss_rl: -0.2264, loss_critic: 1.4411, loss_rl_bc: 0.0066, il_score: 0.6303, rl_score: 0.6402, prev_frame_loss_waypoint_0: 0.2124, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.6712, grad_norm: 66.8479, il_score_sum: 64.7614, rl_score_sum: 66.3808, score_diff: -1.6194, il_win: 76.0000, rl_win: 261.0000
2025-09-24 12:14:20,987 - mmdet - INFO - Epoch [15][940/3517]	lr: 1.856e-05, eta: 7:38:13, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1789, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2432, debug_std_frame_2: 0.2935, debug_std_frame_3: 0.3443, debug_std_frame_4: 0.4024, debug_std_frame_5: 0.4581, loss_rl: -0.2740, loss_critic: 1.2840, loss_rl_bc: 0.0086, il_score: 0.6427, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.1862, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.4200, grad_norm: 50.7447, il_score_sum: 64.7614, rl_score_sum: 66.3808, score_diff: -1.6194, il_win: 76.0000, rl_win: 261.0000
2025-09-24 12:14:36,851 - mmdet - INFO - Epoch [15][960/3517]	lr: 1.856e-05, eta: 7:37:57, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.2072, debug_std_frame_0: 0.2194, debug_std_frame_1: 0.2503, debug_std_frame_2: 0.2979, debug_std_frame_3: 0.3484, debug_std_frame_4: 0.4067, debug_std_frame_5: 0.4634, loss_rl: -0.2662, loss_critic: 1.4151, loss_rl_bc: 0.0130, il_score: 0.6133, rl_score: 0.6473, prev_frame_loss_waypoint_0: 0.2397, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.6549, grad_norm: 78.0350, il_score_sum: 64.7614, rl_score_sum: 66.3808, score_diff: -1.6194, il_win: 76.0000, rl_win: 261.0000
2025-09-24 12:14:53,008 - mmdet - INFO - Epoch [15][980/3517]	lr: 1.856e-05, eta: 7:37:41, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.1874, debug_std_frame_0: 0.2228, debug_std_frame_1: 0.2547, debug_std_frame_2: 0.3032, debug_std_frame_3: 0.3560, debug_std_frame_4: 0.4130, debug_std_frame_5: 0.4690, loss_rl: -0.1925, loss_critic: 1.1827, loss_rl_bc: 0.0109, il_score: 0.6229, rl_score: 0.6636, prev_frame_loss_waypoint_0: 0.2108, prev_frame_loss_rl_bc_0: 0.0158, loss: 1.4452, grad_norm: 52.3485, il_score_sum: 64.6392, rl_score_sum: 66.3962, score_diff: -1.7570, il_win: 76.0000, rl_win: 261.5000
2025-09-24 12:15:08,937 - mmdet - INFO - Epoch [15][1000/3517]	lr: 1.856e-05, eta: 7:37:25, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0306, loss_waypoint: 0.1690, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2406, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3349, debug_std_frame_4: 0.3931, debug_std_frame_5: 0.4459, loss_rl: -0.2285, loss_critic: 1.3614, loss_rl_bc: 0.0103, il_score: 0.6524, rl_score: 0.6511, prev_frame_loss_waypoint_0: 0.1791, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.5327, grad_norm: 47.4985, il_score_sum: 64.6392, rl_score_sum: 66.3962, score_diff: -1.7570, il_win: 76.0000, rl_win: 261.5000
2025-09-24 12:15:25,017 - mmdet - INFO - Epoch [15][1020/3517]	lr: 1.856e-05, eta: 7:37:09, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1656, debug_std_frame_0: 0.2152, debug_std_frame_1: 0.2439, debug_std_frame_2: 0.2930, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.4035, debug_std_frame_5: 0.4612, loss_rl: -0.2170, loss_critic: 1.6614, loss_rl_bc: 0.0075, il_score: 0.5854, rl_score: 0.6179, prev_frame_loss_waypoint_0: 0.1871, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.8419, grad_norm: 41.6639, il_score_sum: 64.6392, rl_score_sum: 66.3962, score_diff: -1.7570, il_win: 76.0000, rl_win: 261.5000
2025-09-24 12:15:40,743 - mmdet - INFO - Epoch [15][1040/3517]	lr: 1.856e-05, eta: 7:36:53, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1748, debug_std_frame_0: 0.2167, debug_std_frame_1: 0.2457, debug_std_frame_2: 0.2943, debug_std_frame_3: 0.3470, debug_std_frame_4: 0.4057, debug_std_frame_5: 0.4634, loss_rl: -0.2834, loss_critic: 1.4722, loss_rl_bc: 0.0085, il_score: 0.6665, rl_score: 0.6692, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.5873, grad_norm: 49.0485, il_score_sum: 64.6392, rl_score_sum: 66.3962, score_diff: -1.7570, il_win: 76.0000, rl_win: 261.5000
2025-09-24 12:15:56,742 - mmdet - INFO - Epoch [15][1060/3517]	lr: 1.856e-05, eta: 7:36:37, time: 0.800, data_time: 0.014, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1858, debug_std_frame_0: 0.2163, debug_std_frame_1: 0.2449, debug_std_frame_2: 0.2948, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.4009, debug_std_frame_5: 0.4573, loss_rl: -0.2444, loss_critic: 1.4230, loss_rl_bc: 0.0226, il_score: 0.6365, rl_score: 0.6393, prev_frame_loss_waypoint_0: 0.1841, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.6168, grad_norm: 43.5946, il_score_sum: 64.6392, rl_score_sum: 66.3962, score_diff: -1.7570, il_win: 76.0000, rl_win: 261.5000
2025-09-24 12:16:12,949 - mmdet - INFO - Epoch [15][1080/3517]	lr: 1.856e-05, eta: 7:36:21, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0305, loss_waypoint: 0.1942, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2459, debug_std_frame_2: 0.2918, debug_std_frame_3: 0.3399, debug_std_frame_4: 0.3946, debug_std_frame_5: 0.4515, loss_rl: -0.2241, loss_critic: 1.1954, loss_rl_bc: 0.0119, il_score: 0.6690, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.1873, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.4028, grad_norm: 51.0843, il_score_sum: 64.5266, rl_score_sum: 66.2451, score_diff: -1.7185, il_win: 76.0000, rl_win: 262.0000
2025-09-24 12:16:29,029 - mmdet - INFO - Epoch [15][1100/3517]	lr: 1.856e-05, eta: 7:36:05, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1674, debug_std_frame_0: 0.2198, debug_std_frame_1: 0.2499, debug_std_frame_2: 0.2962, debug_std_frame_3: 0.3456, debug_std_frame_4: 0.4013, debug_std_frame_5: 0.4573, loss_rl: -0.2466, loss_critic: 1.3674, loss_rl_bc: 0.0077, il_score: 0.6235, rl_score: 0.6572, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.5186, grad_norm: 58.1153, il_score_sum: 64.5266, rl_score_sum: 66.2451, score_diff: -1.7185, il_win: 76.0000, rl_win: 262.0000
2025-09-24 12:16:45,029 - mmdet - INFO - Epoch [15][1120/3517]	lr: 1.856e-05, eta: 7:35:49, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0309, loss_waypoint: 0.1792, debug_std_frame_0: 0.2185, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.2954, debug_std_frame_3: 0.3454, debug_std_frame_4: 0.4018, debug_std_frame_5: 0.4610, loss_rl: -0.2302, loss_critic: 1.3290, loss_rl_bc: 0.0100, il_score: 0.6480, rl_score: 0.6613, prev_frame_loss_waypoint_0: 0.1929, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.5240, grad_norm: 56.2171, il_score_sum: 64.5266, rl_score_sum: 66.2451, score_diff: -1.7185, il_win: 76.0000, rl_win: 262.0000
2025-09-24 12:17:00,982 - mmdet - INFO - Epoch [15][1140/3517]	lr: 1.856e-05, eta: 7:35:32, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1878, debug_std_frame_0: 0.2223, debug_std_frame_1: 0.2503, debug_std_frame_2: 0.2981, debug_std_frame_3: 0.3478, debug_std_frame_4: 0.4063, debug_std_frame_5: 0.4638, loss_rl: -0.2582, loss_critic: 1.7414, loss_rl_bc: 0.0117, il_score: 0.6190, rl_score: 0.6354, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.8993, grad_norm: 54.2073, il_score_sum: 64.5266, rl_score_sum: 66.2451, score_diff: -1.7185, il_win: 76.0000, rl_win: 262.0000
2025-09-24 12:17:16,852 - mmdet - INFO - Epoch [15][1160/3517]	lr: 1.856e-05, eta: 7:35:16, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0304, loss_waypoint: 0.1645, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2392, debug_std_frame_2: 0.2847, debug_std_frame_3: 0.3344, debug_std_frame_4: 0.3931, debug_std_frame_5: 0.4539, loss_rl: -0.2774, loss_critic: 1.2542, loss_rl_bc: 0.0051, il_score: 0.6711, rl_score: 0.6798, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.3746, grad_norm: 43.0114, il_score_sum: 64.5266, rl_score_sum: 66.2451, score_diff: -1.7185, il_win: 76.0000, rl_win: 262.0000
2025-09-24 12:17:33,046 - mmdet - INFO - Epoch [15][1180/3517]	lr: 1.856e-05, eta: 7:35:00, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0310, loss_waypoint: 0.1921, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3786, debug_std_frame_5: 0.4351, loss_rl: -0.2685, loss_critic: 1.2190, loss_rl_bc: 0.0094, il_score: 0.6604, rl_score: 0.6744, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.3764, grad_norm: 53.0364, il_score_sum: 64.5529, rl_score_sum: 66.2556, score_diff: -1.7026, il_win: 76.0000, rl_win: 262.5000
2025-09-24 12:17:49,144 - mmdet - INFO - Epoch [15][1200/3517]	lr: 1.856e-05, eta: 7:34:44, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.1879, debug_std_frame_0: 0.2220, debug_std_frame_1: 0.2449, debug_std_frame_2: 0.2915, debug_std_frame_3: 0.3407, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4523, loss_rl: -0.2492, loss_critic: 1.6188, loss_rl_bc: 0.0143, il_score: 0.6195, rl_score: 0.6219, prev_frame_loss_waypoint_0: 0.2011, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.8142, grad_norm: 51.7909, il_score_sum: 64.5529, rl_score_sum: 66.2556, score_diff: -1.7026, il_win: 76.0000, rl_win: 262.5000
2025-09-24 12:18:05,130 - mmdet - INFO - Epoch [15][1220/3517]	lr: 1.856e-05, eta: 7:34:28, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0310, loss_waypoint: 0.1717, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2464, debug_std_frame_2: 0.2974, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4090, debug_std_frame_5: 0.4671, loss_rl: -0.2761, loss_critic: 1.2150, loss_rl_bc: 0.0048, il_score: 0.6534, rl_score: 0.6842, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.3333, grad_norm: 43.5138, il_score_sum: 64.5529, rl_score_sum: 66.2556, score_diff: -1.7026, il_win: 76.0000, rl_win: 262.5000
2025-09-24 12:18:20,954 - mmdet - INFO - Epoch [15][1240/3517]	lr: 1.856e-05, eta: 7:34:12, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0330, loss_waypoint: 0.1790, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2376, debug_std_frame_2: 0.2892, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.4054, debug_std_frame_5: 0.4651, loss_rl: -0.2771, loss_critic: 1.3843, loss_rl_bc: 0.0119, il_score: 0.6269, rl_score: 0.6494, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.5521, grad_norm: 54.3512, il_score_sum: 64.5529, rl_score_sum: 66.2556, score_diff: -1.7026, il_win: 76.0000, rl_win: 262.5000
2025-09-24 12:18:36,917 - mmdet - INFO - Epoch [15][1260/3517]	lr: 1.856e-05, eta: 7:33:56, time: 0.798, data_time: 0.014, memory: 8550, loss_rec: 0.0318, loss_waypoint: 0.1669, debug_std_frame_0: 0.2168, debug_std_frame_1: 0.2434, debug_std_frame_2: 0.2904, debug_std_frame_3: 0.3472, debug_std_frame_4: 0.4084, debug_std_frame_5: 0.4666, loss_rl: -0.2181, loss_critic: 1.5726, loss_rl_bc: 0.0097, il_score: 0.6623, rl_score: 0.6479, prev_frame_loss_waypoint_0: 0.1923, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.7653, grad_norm: 48.3059, il_score_sum: 64.5529, rl_score_sum: 66.2556, score_diff: -1.7026, il_win: 76.0000, rl_win: 262.5000
2025-09-24 12:18:52,997 - mmdet - INFO - Epoch [15][1280/3517]	lr: 1.856e-05, eta: 7:33:40, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1814, debug_std_frame_0: 0.2244, debug_std_frame_1: 0.2557, debug_std_frame_2: 0.3055, debug_std_frame_3: 0.3588, debug_std_frame_4: 0.4148, debug_std_frame_5: 0.4698, loss_rl: -0.2441, loss_critic: 1.2543, loss_rl_bc: 0.0116, il_score: 0.6660, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.1950, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.4366, grad_norm: 43.2778, il_score_sum: 64.5389, rl_score_sum: 66.1902, score_diff: -1.6513, il_win: 76.0000, rl_win: 263.0000
2025-09-24 12:19:08,856 - mmdet - INFO - Epoch [15][1300/3517]	lr: 1.856e-05, eta: 7:33:23, time: 0.793, data_time: 0.014, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.1762, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2419, debug_std_frame_2: 0.2892, debug_std_frame_3: 0.3447, debug_std_frame_4: 0.3984, debug_std_frame_5: 0.4530, loss_rl: -0.2578, loss_critic: 1.2651, loss_rl_bc: 0.0104, il_score: 0.6645, rl_score: 0.6750, prev_frame_loss_waypoint_0: 0.2088, prev_frame_loss_rl_bc_0: 0.0176, loss: 1.4504, grad_norm: 64.1709, il_score_sum: 64.5389, rl_score_sum: 66.1902, score_diff: -1.6513, il_win: 76.0000, rl_win: 263.0000
2025-09-24 12:19:24,801 - mmdet - INFO - Epoch [15][1320/3517]	lr: 1.856e-05, eta: 7:33:07, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1793, debug_std_frame_0: 0.2239, debug_std_frame_1: 0.2523, debug_std_frame_2: 0.2952, debug_std_frame_3: 0.3459, debug_std_frame_4: 0.3984, debug_std_frame_5: 0.4521, loss_rl: -0.2365, loss_critic: 1.3171, loss_rl_bc: 0.0089, il_score: 0.6628, rl_score: 0.6471, prev_frame_loss_waypoint_0: 0.1858, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.4906, grad_norm: 51.8656, il_score_sum: 64.5389, rl_score_sum: 66.1902, score_diff: -1.6513, il_win: 76.0000, rl_win: 263.0000
2025-09-24 12:19:40,713 - mmdet - INFO - Epoch [15][1340/3517]	lr: 1.856e-05, eta: 7:32:51, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1869, debug_std_frame_0: 0.2163, debug_std_frame_1: 0.2433, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3385, debug_std_frame_4: 0.3909, debug_std_frame_5: 0.4421, loss_rl: -0.2676, loss_critic: 1.5114, loss_rl_bc: 0.0124, il_score: 0.6081, rl_score: 0.6498, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.6606, grad_norm: 48.7691, il_score_sum: 64.5389, rl_score_sum: 66.1902, score_diff: -1.6513, il_win: 76.0000, rl_win: 263.0000
2025-09-24 12:19:56,434 - mmdet - INFO - Epoch [15][1360/3517]	lr: 1.856e-05, eta: 7:32:35, time: 0.786, data_time: 0.013, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.2089, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2482, debug_std_frame_2: 0.3000, debug_std_frame_3: 0.3563, debug_std_frame_4: 0.4157, debug_std_frame_5: 0.4734, loss_rl: -0.2362, loss_critic: 1.1336, loss_rl_bc: 0.0148, il_score: 0.6573, rl_score: 0.6605, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.3666, grad_norm: 38.9604, il_score_sum: 64.5389, rl_score_sum: 66.1902, score_diff: -1.6513, il_win: 76.0000, rl_win: 263.0000
2025-09-24 12:20:12,375 - mmdet - INFO - Epoch [15][1380/3517]	lr: 1.856e-05, eta: 7:32:19, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1798, debug_std_frame_0: 0.2258, debug_std_frame_1: 0.2570, debug_std_frame_2: 0.3069, debug_std_frame_3: 0.3619, debug_std_frame_4: 0.4185, debug_std_frame_5: 0.4784, loss_rl: -0.3059, loss_critic: 1.5285, loss_rl_bc: 0.0087, il_score: 0.6361, rl_score: 0.6775, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.6261, grad_norm: 62.4872, il_score_sum: 64.5806, rl_score_sum: 66.1835, score_diff: -1.6029, il_win: 76.0000, rl_win: 263.4286
2025-09-24 12:20:28,179 - mmdet - INFO - Epoch [15][1400/3517]	lr: 1.856e-05, eta: 7:32:02, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1847, debug_std_frame_0: 0.2252, debug_std_frame_1: 0.2533, debug_std_frame_2: 0.3031, debug_std_frame_3: 0.3552, debug_std_frame_4: 0.4111, debug_std_frame_5: 0.4678, loss_rl: -0.2751, loss_critic: 1.6226, loss_rl_bc: 0.0132, il_score: 0.6133, rl_score: 0.6350, prev_frame_loss_waypoint_0: 0.1915, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.7741, grad_norm: 55.1284, il_score_sum: 64.5806, rl_score_sum: 66.1835, score_diff: -1.6029, il_win: 76.0000, rl_win: 263.4286
2025-09-24 12:20:44,042 - mmdet - INFO - Epoch [15][1420/3517]	lr: 1.856e-05, eta: 7:31:46, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.2023, debug_std_frame_0: 0.2266, debug_std_frame_1: 0.2582, debug_std_frame_2: 0.3084, debug_std_frame_3: 0.3612, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4822, loss_rl: -0.2193, loss_critic: 1.5456, loss_rl_bc: 0.0178, il_score: 0.6178, rl_score: 0.6457, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.7698, grad_norm: 45.6862, il_score_sum: 64.5806, rl_score_sum: 66.1835, score_diff: -1.6029, il_win: 76.0000, rl_win: 263.4286
2025-09-24 12:21:00,018 - mmdet - INFO - Epoch [15][1440/3517]	lr: 1.856e-05, eta: 7:31:30, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1850, debug_std_frame_0: 0.2207, debug_std_frame_1: 0.2494, debug_std_frame_2: 0.3020, debug_std_frame_3: 0.3576, debug_std_frame_4: 0.4176, debug_std_frame_5: 0.4785, loss_rl: -0.2434, loss_critic: 1.4782, loss_rl_bc: 0.0095, il_score: 0.6450, rl_score: 0.6673, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.6644, grad_norm: 60.4810, il_score_sum: 64.5806, rl_score_sum: 66.1835, score_diff: -1.6029, il_win: 76.0000, rl_win: 263.4286
2025-09-24 12:21:15,761 - mmdet - INFO - Epoch [15][1460/3517]	lr: 1.856e-05, eta: 7:31:14, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1786, debug_std_frame_0: 0.2219, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.2986, debug_std_frame_3: 0.3514, debug_std_frame_4: 0.4106, debug_std_frame_5: 0.4675, loss_rl: -0.2432, loss_critic: 1.4542, loss_rl_bc: 0.0130, il_score: 0.6285, rl_score: 0.6513, prev_frame_loss_waypoint_0: 0.1948, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.6363, grad_norm: 50.3956, il_score_sum: 64.5806, rl_score_sum: 66.1835, score_diff: -1.6029, il_win: 76.0000, rl_win: 263.4286
2025-09-24 12:21:31,695 - mmdet - INFO - Epoch [15][1480/3517]	lr: 1.856e-05, eta: 7:30:58, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1758, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2487, debug_std_frame_2: 0.3016, debug_std_frame_3: 0.3587, debug_std_frame_4: 0.4148, debug_std_frame_5: 0.4725, loss_rl: -0.2284, loss_critic: 1.5190, loss_rl_bc: 0.0140, il_score: 0.6463, rl_score: 0.6415, prev_frame_loss_waypoint_0: 0.1904, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.7109, grad_norm: 56.0793, il_score_sum: 64.4705, rl_score_sum: 66.1361, score_diff: -1.6656, il_win: 76.0000, rl_win: 263.8667
2025-09-24 12:21:47,672 - mmdet - INFO - Epoch [15][1500/3517]	lr: 1.856e-05, eta: 7:30:42, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1467, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2461, debug_std_frame_2: 0.2956, debug_std_frame_3: 0.3477, debug_std_frame_4: 0.4050, debug_std_frame_5: 0.4624, loss_rl: -0.3024, loss_critic: 1.5345, loss_rl_bc: 0.0020, il_score: 0.6715, rl_score: 0.6956, prev_frame_loss_waypoint_0: 0.1569, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.5693, grad_norm: 45.8772, il_score_sum: 64.4705, rl_score_sum: 66.1361, score_diff: -1.6656, il_win: 76.0000, rl_win: 263.8667
2025-09-24 12:22:03,577 - mmdet - INFO - Epoch [15][1520/3517]	lr: 1.856e-05, eta: 7:30:25, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1900, debug_std_frame_0: 0.2197, debug_std_frame_1: 0.2506, debug_std_frame_2: 0.3002, debug_std_frame_3: 0.3552, debug_std_frame_4: 0.4145, debug_std_frame_5: 0.4749, loss_rl: -0.2347, loss_critic: 1.4041, loss_rl_bc: 0.0122, il_score: 0.6334, rl_score: 0.6592, prev_frame_loss_waypoint_0: 0.2052, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6147, grad_norm: 61.4778, il_score_sum: 64.4705, rl_score_sum: 66.1361, score_diff: -1.6656, il_win: 76.0000, rl_win: 263.8667
2025-09-24 12:22:19,334 - mmdet - INFO - Epoch [15][1540/3517]	lr: 1.856e-05, eta: 7:30:09, time: 0.788, data_time: 0.014, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1846, debug_std_frame_0: 0.2216, debug_std_frame_1: 0.2479, debug_std_frame_2: 0.2958, debug_std_frame_3: 0.3444, debug_std_frame_4: 0.3980, debug_std_frame_5: 0.4527, loss_rl: -0.2620, loss_critic: 1.1905, loss_rl_bc: 0.0075, il_score: 0.6297, rl_score: 0.6738, prev_frame_loss_waypoint_0: 0.2020, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.3599, grad_norm: 54.9139, il_score_sum: 64.4705, rl_score_sum: 66.1361, score_diff: -1.6656, il_win: 76.0000, rl_win: 263.8667
2025-09-24 12:22:35,158 - mmdet - INFO - Epoch [15][1560/3517]	lr: 1.856e-05, eta: 7:29:53, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1888, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2411, debug_std_frame_2: 0.2887, debug_std_frame_3: 0.3385, debug_std_frame_4: 0.3971, debug_std_frame_5: 0.4546, loss_rl: -0.2562, loss_critic: 1.5214, loss_rl_bc: 0.0102, il_score: 0.6554, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1783, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.6758, grad_norm: 54.4115, il_score_sum: 64.4705, rl_score_sum: 66.1361, score_diff: -1.6656, il_win: 76.0000, rl_win: 263.8667
2025-09-24 12:22:51,268 - mmdet - INFO - Epoch [15][1580/3517]	lr: 1.856e-05, eta: 7:29:37, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1845, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2812, debug_std_frame_3: 0.3331, debug_std_frame_4: 0.3925, debug_std_frame_5: 0.4502, loss_rl: -0.2777, loss_critic: 1.5183, loss_rl_bc: 0.0096, il_score: 0.6468, rl_score: 0.6670, prev_frame_loss_waypoint_0: 0.1831, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.6519, grad_norm: 58.5207, il_score_sum: 64.4826, rl_score_sum: 66.1998, score_diff: -1.7172, il_win: 76.0000, rl_win: 264.3125
2025-09-24 12:23:07,313 - mmdet - INFO - Epoch [15][1600/3517]	lr: 1.856e-05, eta: 7:29:21, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.2063, debug_std_frame_0: 0.2141, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2834, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3950, debug_std_frame_5: 0.4549, loss_rl: -0.1928, loss_critic: 1.2114, loss_rl_bc: 0.0143, il_score: 0.6112, rl_score: 0.6383, prev_frame_loss_waypoint_0: 0.2169, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.4983, grad_norm: 73.0316, il_score_sum: 64.4826, rl_score_sum: 66.1998, score_diff: -1.7172, il_win: 76.0000, rl_win: 264.3125
2025-09-24 12:23:23,280 - mmdet - INFO - Epoch [15][1620/3517]	lr: 1.856e-05, eta: 7:29:05, time: 0.798, data_time: 0.014, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1765, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2387, debug_std_frame_2: 0.2845, debug_std_frame_3: 0.3322, debug_std_frame_4: 0.3846, debug_std_frame_5: 0.4386, loss_rl: -0.2369, loss_critic: 1.6128, loss_rl_bc: 0.0143, il_score: 0.6257, rl_score: 0.6442, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.7878, grad_norm: 45.7305, il_score_sum: 64.4826, rl_score_sum: 66.1998, score_diff: -1.7172, il_win: 76.0000, rl_win: 264.3125
2025-09-24 12:23:39,220 - mmdet - INFO - Epoch [15][1640/3517]	lr: 1.856e-05, eta: 7:28:49, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.2096, debug_std_frame_0: 0.2203, debug_std_frame_1: 0.2509, debug_std_frame_2: 0.3055, debug_std_frame_3: 0.3611, debug_std_frame_4: 0.4195, debug_std_frame_5: 0.4839, loss_rl: -0.2636, loss_critic: 1.1292, loss_rl_bc: 0.0129, il_score: 0.6750, rl_score: 0.6878, prev_frame_loss_waypoint_0: 0.2178, prev_frame_loss_rl_bc_0: 0.0149, loss: 1.3498, grad_norm: 41.5315, il_score_sum: 64.4826, rl_score_sum: 66.1998, score_diff: -1.7172, il_win: 76.0000, rl_win: 264.3125
2025-09-24 12:23:55,034 - mmdet - INFO - Epoch [15][1660/3517]	lr: 1.856e-05, eta: 7:28:32, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1818, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2478, debug_std_frame_2: 0.2988, debug_std_frame_3: 0.3532, debug_std_frame_4: 0.4111, debug_std_frame_5: 0.4694, loss_rl: -0.2803, loss_critic: 1.4993, loss_rl_bc: 0.0103, il_score: 0.6528, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.6336, grad_norm: 50.3628, il_score_sum: 64.4826, rl_score_sum: 66.1998, score_diff: -1.7172, il_win: 76.0000, rl_win: 264.3125
2025-09-24 12:24:11,083 - mmdet - INFO - Epoch [15][1680/3517]	lr: 1.856e-05, eta: 7:28:16, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.2080, debug_std_frame_0: 0.2169, debug_std_frame_1: 0.2484, debug_std_frame_2: 0.3029, debug_std_frame_3: 0.3621, debug_std_frame_4: 0.4233, debug_std_frame_5: 0.4867, loss_rl: -0.2554, loss_critic: 1.4539, loss_rl_bc: 0.0170, il_score: 0.6057, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.2117, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.6765, grad_norm: 57.5466, il_score_sum: 64.4534, rl_score_sum: 66.1987, score_diff: -1.7453, il_win: 76.0000, rl_win: 264.7647
2025-09-24 12:24:27,059 - mmdet - INFO - Epoch [15][1700/3517]	lr: 1.856e-05, eta: 7:28:00, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1769, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.2988, debug_std_frame_3: 0.3558, debug_std_frame_4: 0.4125, debug_std_frame_5: 0.4715, loss_rl: -0.2664, loss_critic: 1.4410, loss_rl_bc: 0.0115, il_score: 0.6337, rl_score: 0.6561, prev_frame_loss_waypoint_0: 0.1911, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.5932, grad_norm: 46.3728, il_score_sum: 64.4534, rl_score_sum: 66.1987, score_diff: -1.7453, il_win: 76.0000, rl_win: 264.7647
2025-09-24 12:24:43,019 - mmdet - INFO - Epoch [15][1720/3517]	lr: 1.856e-05, eta: 7:27:44, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1959, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2909, debug_std_frame_3: 0.3432, debug_std_frame_4: 0.4022, debug_std_frame_5: 0.4591, loss_rl: -0.2288, loss_critic: 1.2919, loss_rl_bc: 0.0121, il_score: 0.6449, rl_score: 0.6627, prev_frame_loss_waypoint_0: 0.1963, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.5089, grad_norm: 49.9794, il_score_sum: 64.4534, rl_score_sum: 66.1987, score_diff: -1.7453, il_win: 76.0000, rl_win: 264.7647
2025-09-24 12:24:58,781 - mmdet - INFO - Epoch [15][1740/3517]	lr: 1.856e-05, eta: 7:27:28, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0311, loss_waypoint: 0.1900, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2433, debug_std_frame_2: 0.3014, debug_std_frame_3: 0.3610, debug_std_frame_4: 0.4231, debug_std_frame_5: 0.4837, loss_rl: -0.2499, loss_critic: 1.1336, loss_rl_bc: 0.0129, il_score: 0.6587, rl_score: 0.6673, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.3153, grad_norm: 46.4021, il_score_sum: 64.4534, rl_score_sum: 66.1987, score_diff: -1.7453, il_win: 76.0000, rl_win: 264.7647
2025-09-24 12:25:14,723 - mmdet - INFO - Epoch [15][1760/3517]	lr: 1.856e-05, eta: 7:27:12, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1692, debug_std_frame_0: 0.2166, debug_std_frame_1: 0.2454, debug_std_frame_2: 0.3017, debug_std_frame_3: 0.3567, debug_std_frame_4: 0.4129, debug_std_frame_5: 0.4695, loss_rl: -0.2440, loss_critic: 1.2926, loss_rl_bc: 0.0084, il_score: 0.6742, rl_score: 0.6791, prev_frame_loss_waypoint_0: 0.1940, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.4582, grad_norm: 49.1488, il_score_sum: 64.4534, rl_score_sum: 66.1987, score_diff: -1.7453, il_win: 76.0000, rl_win: 264.7647
2025-09-24 12:25:30,762 - mmdet - INFO - Epoch [15][1780/3517]	lr: 1.856e-05, eta: 7:26:56, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.2067, debug_std_frame_0: 0.2187, debug_std_frame_1: 0.2545, debug_std_frame_2: 0.3183, debug_std_frame_3: 0.3784, debug_std_frame_4: 0.4420, debug_std_frame_5: 0.5022, loss_rl: -0.2058, loss_critic: 1.3910, loss_rl_bc: 0.0117, il_score: 0.6072, rl_score: 0.6420, prev_frame_loss_waypoint_0: 0.2210, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.6678, grad_norm: 69.2916, il_score_sum: 64.4585, rl_score_sum: 66.2240, score_diff: -1.7655, il_win: 76.0000, rl_win: 265.2222
2025-09-24 12:25:46,538 - mmdet - INFO - Epoch [15][1800/3517]	lr: 1.856e-05, eta: 7:26:39, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0309, loss_waypoint: 0.1701, debug_std_frame_0: 0.2179, debug_std_frame_1: 0.2498, debug_std_frame_2: 0.3026, debug_std_frame_3: 0.3569, debug_std_frame_4: 0.4144, debug_std_frame_5: 0.4703, loss_rl: -0.2795, loss_critic: 1.2997, loss_rl_bc: 0.0057, il_score: 0.6706, rl_score: 0.6764, prev_frame_loss_waypoint_0: 0.1887, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.4280, grad_norm: 35.4435, il_score_sum: 64.4585, rl_score_sum: 66.2240, score_diff: -1.7655, il_win: 76.0000, rl_win: 265.2222
2025-09-24 12:26:02,345 - mmdet - INFO - Epoch [15][1820/3517]	lr: 1.856e-05, eta: 7:26:23, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1595, debug_std_frame_0: 0.2151, debug_std_frame_1: 0.2395, debug_std_frame_2: 0.2860, debug_std_frame_3: 0.3338, debug_std_frame_4: 0.3839, debug_std_frame_5: 0.4355, loss_rl: -0.2548, loss_critic: 1.4183, loss_rl_bc: 0.0079, il_score: 0.6632, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1740, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.5391, grad_norm: 47.6033, il_score_sum: 64.4585, rl_score_sum: 66.2240, score_diff: -1.7655, il_win: 76.0000, rl_win: 265.2222
2025-09-24 12:26:18,287 - mmdet - INFO - Epoch [15][1840/3517]	lr: 1.856e-05, eta: 7:26:07, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1946, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2426, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3483, debug_std_frame_4: 0.4019, debug_std_frame_5: 0.4581, loss_rl: -0.2791, loss_critic: 1.4444, loss_rl_bc: 0.0582, il_score: 0.6872, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.2068, prev_frame_loss_rl_bc_0: 0.0577, loss: 1.7095, grad_norm: 56.5630, il_score_sum: 64.4585, rl_score_sum: 66.2240, score_diff: -1.7655, il_win: 76.0000, rl_win: 265.2222
2025-09-24 12:26:34,262 - mmdet - INFO - Epoch [15][1860/3517]	lr: 1.856e-05, eta: 7:25:51, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.2166, debug_std_frame_0: 0.2274, debug_std_frame_1: 0.2603, debug_std_frame_2: 0.3192, debug_std_frame_3: 0.3768, debug_std_frame_4: 0.4370, debug_std_frame_5: 0.4962, loss_rl: -0.1942, loss_critic: 1.3770, loss_rl_bc: 0.0226, il_score: 0.6162, rl_score: 0.6196, prev_frame_loss_waypoint_0: 0.2259, prev_frame_loss_rl_bc_0: 0.0189, loss: 1.6956, grad_norm: 56.9120, il_score_sum: 64.4585, rl_score_sum: 66.2240, score_diff: -1.7655, il_win: 76.0000, rl_win: 265.2222
2025-09-24 12:26:50,183 - mmdet - INFO - Epoch [15][1880/3517]	lr: 1.856e-05, eta: 7:25:35, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0306, loss_waypoint: 0.1790, debug_std_frame_0: 0.2246, debug_std_frame_1: 0.2602, debug_std_frame_2: 0.3152, debug_std_frame_3: 0.3700, debug_std_frame_4: 0.4279, debug_std_frame_5: 0.4869, loss_rl: -0.2675, loss_critic: 1.1618, loss_rl_bc: 0.0075, il_score: 0.6680, rl_score: 0.7036, prev_frame_loss_waypoint_0: 0.2226, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.3462, grad_norm: 52.2366, il_score_sum: 64.4866, rl_score_sum: 66.1991, score_diff: -1.7125, il_win: 76.0000, rl_win: 265.6316
2025-09-24 12:27:05,920 - mmdet - INFO - Epoch [15][1900/3517]	lr: 1.856e-05, eta: 7:25:18, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1862, debug_std_frame_0: 0.2205, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.3023, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4122, debug_std_frame_5: 0.4670, loss_rl: -0.2782, loss_critic: 1.4150, loss_rl_bc: 0.0065, il_score: 0.6233, rl_score: 0.6805, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.5529, grad_norm: 57.2629, il_score_sum: 64.4866, rl_score_sum: 66.1991, score_diff: -1.7125, il_win: 76.0000, rl_win: 265.6316
2025-09-24 12:27:21,926 - mmdet - INFO - Epoch [15][1920/3517]	lr: 1.856e-05, eta: 7:25:02, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1516, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2421, debug_std_frame_2: 0.2908, debug_std_frame_3: 0.3452, debug_std_frame_4: 0.3967, debug_std_frame_5: 0.4533, loss_rl: -0.2455, loss_critic: 1.3695, loss_rl_bc: 0.0073, il_score: 0.6858, rl_score: 0.6566, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.5170, grad_norm: 40.1734, il_score_sum: 64.4866, rl_score_sum: 66.1991, score_diff: -1.7125, il_win: 76.0000, rl_win: 265.6316
2025-09-24 12:27:37,834 - mmdet - INFO - Epoch [15][1940/3517]	lr: 1.856e-05, eta: 7:24:46, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1778, debug_std_frame_0: 0.2185, debug_std_frame_1: 0.2425, debug_std_frame_2: 0.2920, debug_std_frame_3: 0.3456, debug_std_frame_4: 0.3979, debug_std_frame_5: 0.4523, loss_rl: -0.3069, loss_critic: 1.1740, loss_rl_bc: 0.0066, il_score: 0.6820, rl_score: 0.7067, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.2701, grad_norm: 42.2854, il_score_sum: 64.4866, rl_score_sum: 66.1991, score_diff: -1.7125, il_win: 76.0000, rl_win: 265.6316
2025-09-24 12:27:53,722 - mmdet - INFO - Epoch [15][1960/3517]	lr: 1.856e-05, eta: 7:24:30, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1765, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2335, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3336, debug_std_frame_4: 0.3854, debug_std_frame_5: 0.4442, loss_rl: -0.2829, loss_critic: 1.4015, loss_rl_bc: 0.0062, il_score: 0.6137, rl_score: 0.6737, prev_frame_loss_waypoint_0: 0.1888, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.5247, grad_norm: 51.8515, il_score_sum: 64.4866, rl_score_sum: 66.1991, score_diff: -1.7125, il_win: 76.0000, rl_win: 265.6316
2025-09-24 12:28:09,652 - mmdet - INFO - Epoch [15][1980/3517]	lr: 1.856e-05, eta: 7:24:14, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1697, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2888, debug_std_frame_3: 0.3431, debug_std_frame_4: 0.3974, debug_std_frame_5: 0.4519, loss_rl: -0.2793, loss_critic: 1.6107, loss_rl_bc: 0.0051, il_score: 0.6376, rl_score: 0.6443, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.7348, grad_norm: 47.4109, il_score_sum: 64.5188, rl_score_sum: 66.3033, score_diff: -1.7846, il_win: 76.0000, rl_win: 266.0500
2025-09-24 12:28:25,554 - mmdet - INFO - Epoch [15][2000/3517]	lr: 1.856e-05, eta: 7:23:58, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1722, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2383, debug_std_frame_2: 0.2897, debug_std_frame_3: 0.3456, debug_std_frame_4: 0.3995, debug_std_frame_5: 0.4576, loss_rl: -0.2793, loss_critic: 1.3184, loss_rl_bc: 0.0134, il_score: 0.6935, rl_score: 0.7036, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.4436, grad_norm: 39.2859, il_score_sum: 64.5188, rl_score_sum: 66.3033, score_diff: -1.7846, il_win: 76.0000, rl_win: 266.0500
2025-09-24 12:28:41,451 - mmdet - INFO - Epoch [15][2020/3517]	lr: 1.856e-05, eta: 7:23:41, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1804, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2471, debug_std_frame_2: 0.3050, debug_std_frame_3: 0.3621, debug_std_frame_4: 0.4205, debug_std_frame_5: 0.4790, loss_rl: -0.2459, loss_critic: 1.3612, loss_rl_bc: 0.0094, il_score: 0.6532, rl_score: 0.6763, prev_frame_loss_waypoint_0: 0.2074, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.5547, grad_norm: 43.0113, il_score_sum: 64.5188, rl_score_sum: 66.3033, score_diff: -1.7846, il_win: 76.0000, rl_win: 266.0500
2025-09-24 12:28:57,175 - mmdet - INFO - Epoch [15][2040/3517]	lr: 1.856e-05, eta: 7:23:25, time: 0.786, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1756, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2373, debug_std_frame_2: 0.2888, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.3984, debug_std_frame_5: 0.4589, loss_rl: -0.2490, loss_critic: 1.2460, loss_rl_bc: 0.0083, il_score: 0.6930, rl_score: 0.6991, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.4055, grad_norm: 39.1581, il_score_sum: 64.5188, rl_score_sum: 66.3033, score_diff: -1.7846, il_win: 76.0000, rl_win: 266.0500
2025-09-24 12:29:13,012 - mmdet - INFO - Epoch [15][2060/3517]	lr: 1.856e-05, eta: 7:23:09, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1753, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2337, debug_std_frame_2: 0.2817, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3920, debug_std_frame_5: 0.4563, loss_rl: -0.2357, loss_critic: 1.4823, loss_rl_bc: 0.0064, il_score: 0.6513, rl_score: 0.6636, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.6421, grad_norm: 37.0361, il_score_sum: 64.5188, rl_score_sum: 66.3033, score_diff: -1.7846, il_win: 76.0000, rl_win: 266.0500
2025-09-24 12:29:29,034 - mmdet - INFO - Epoch [15][2080/3517]	lr: 1.856e-05, eta: 7:22:53, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1613, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2866, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3928, debug_std_frame_5: 0.4507, loss_rl: -0.2804, loss_critic: 1.0278, loss_rl_bc: 0.0029, il_score: 0.6691, rl_score: 0.7097, prev_frame_loss_waypoint_0: 0.1907, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.1406, grad_norm: 40.5920, il_score_sum: 64.5720, rl_score_sum: 66.3361, score_diff: -1.7642, il_win: 76.0000, rl_win: 266.9000
2025-09-24 12:29:45,048 - mmdet - INFO - Epoch [15][2100/3517]	lr: 1.856e-05, eta: 7:22:37, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1915, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2952, debug_std_frame_3: 0.3498, debug_std_frame_4: 0.4067, debug_std_frame_5: 0.4682, loss_rl: -0.2051, loss_critic: 1.3706, loss_rl_bc: 0.0119, il_score: 0.6049, rl_score: 0.6354, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.6069, grad_norm: 63.1743, il_score_sum: 64.5720, rl_score_sum: 66.3361, score_diff: -1.7642, il_win: 76.0000, rl_win: 266.9000
2025-09-24 12:30:00,899 - mmdet - INFO - Epoch [15][2120/3517]	lr: 1.856e-05, eta: 7:22:21, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1674, debug_std_frame_0: 0.2141, debug_std_frame_1: 0.2416, debug_std_frame_2: 0.2970, debug_std_frame_3: 0.3516, debug_std_frame_4: 0.4080, debug_std_frame_5: 0.4700, loss_rl: -0.2571, loss_critic: 1.2884, loss_rl_bc: 0.0072, il_score: 0.6529, rl_score: 0.6769, prev_frame_loss_waypoint_0: 0.1955, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.4432, grad_norm: 44.2912, il_score_sum: 64.5720, rl_score_sum: 66.3361, score_diff: -1.7642, il_win: 76.0000, rl_win: 266.9000
2025-09-24 12:30:16,822 - mmdet - INFO - Epoch [15][2140/3517]	lr: 1.856e-05, eta: 7:22:04, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.2099, debug_std_frame_0: 0.2197, debug_std_frame_1: 0.2470, debug_std_frame_2: 0.2991, debug_std_frame_3: 0.3522, debug_std_frame_4: 0.4069, debug_std_frame_5: 0.4651, loss_rl: -0.2533, loss_critic: 1.3187, loss_rl_bc: 0.0394, il_score: 0.6423, rl_score: 0.6585, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0386, loss: 1.5855, grad_norm: 59.4972, il_score_sum: 64.5720, rl_score_sum: 66.3361, score_diff: -1.7642, il_win: 76.0000, rl_win: 266.9000
2025-09-24 12:30:32,905 - mmdet - INFO - Epoch [15][2160/3517]	lr: 1.856e-05, eta: 7:21:48, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1611, debug_std_frame_0: 0.2280, debug_std_frame_1: 0.2645, debug_std_frame_2: 0.3174, debug_std_frame_3: 0.3687, debug_std_frame_4: 0.4223, debug_std_frame_5: 0.4823, loss_rl: -0.2205, loss_critic: 1.3984, loss_rl_bc: 0.0084, il_score: 0.6675, rl_score: 0.6259, prev_frame_loss_waypoint_0: 0.1974, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.5830, grad_norm: 48.3534, il_score_sum: 64.5720, rl_score_sum: 66.3361, score_diff: -1.7642, il_win: 76.0000, rl_win: 266.9000
2025-09-24 12:30:48,829 - mmdet - INFO - Epoch [15][2180/3517]	lr: 1.856e-05, eta: 7:21:32, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1865, debug_std_frame_0: 0.2277, debug_std_frame_1: 0.2578, debug_std_frame_2: 0.3096, debug_std_frame_3: 0.3637, debug_std_frame_4: 0.4199, debug_std_frame_5: 0.4754, loss_rl: -0.2311, loss_critic: 1.1634, loss_rl_bc: 0.0079, il_score: 0.6655, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1880, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.3516, grad_norm: 53.6871, il_score_sum: 64.5811, rl_score_sum: 66.3064, score_diff: -1.7253, il_win: 76.0000, rl_win: 267.7500
2025-09-24 12:31:04,541 - mmdet - INFO - Epoch [15][2200/3517]	lr: 1.856e-05, eta: 7:21:16, time: 0.786, data_time: 0.011, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1887, debug_std_frame_0: 0.2214, debug_std_frame_1: 0.2479, debug_std_frame_2: 0.2940, debug_std_frame_3: 0.3452, debug_std_frame_4: 0.3974, debug_std_frame_5: 0.4528, loss_rl: -0.2628, loss_critic: 1.5793, loss_rl_bc: 0.0120, il_score: 0.6628, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.7414, grad_norm: 60.2832, il_score_sum: 64.5811, rl_score_sum: 66.3064, score_diff: -1.7253, il_win: 76.0000, rl_win: 267.7500
2025-09-24 12:31:20,407 - mmdet - INFO - Epoch [15][2220/3517]	lr: 1.856e-05, eta: 7:21:00, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1636, debug_std_frame_0: 0.2293, debug_std_frame_1: 0.2533, debug_std_frame_2: 0.2975, debug_std_frame_3: 0.3448, debug_std_frame_4: 0.3941, debug_std_frame_5: 0.4515, loss_rl: -0.2639, loss_critic: 1.6046, loss_rl_bc: 0.0118, il_score: 0.6400, rl_score: 0.6435, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.7284, grad_norm: 54.8615, il_score_sum: 64.5811, rl_score_sum: 66.3064, score_diff: -1.7253, il_win: 76.0000, rl_win: 267.7500
2025-09-24 12:31:36,297 - mmdet - INFO - Epoch [15][2240/3517]	lr: 1.856e-05, eta: 7:20:44, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1666, debug_std_frame_0: 0.2232, debug_std_frame_1: 0.2490, debug_std_frame_2: 0.2968, debug_std_frame_3: 0.3475, debug_std_frame_4: 0.3992, debug_std_frame_5: 0.4553, loss_rl: -0.2577, loss_critic: 1.4181, loss_rl_bc: 0.0067, il_score: 0.6733, rl_score: 0.6648, prev_frame_loss_waypoint_0: 0.1778, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.5450, grad_norm: 39.5784, il_score_sum: 64.5811, rl_score_sum: 66.3064, score_diff: -1.7253, il_win: 76.0000, rl_win: 267.7500
2025-09-24 12:31:52,228 - mmdet - INFO - Epoch [15][2260/3517]	lr: 1.856e-05, eta: 7:20:27, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1641, debug_std_frame_0: 0.2232, debug_std_frame_1: 0.2470, debug_std_frame_2: 0.2916, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3933, debug_std_frame_5: 0.4507, loss_rl: -0.2631, loss_critic: 1.6359, loss_rl_bc: 0.0037, il_score: 0.6524, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.7589, grad_norm: 61.9958, il_score_sum: 64.5811, rl_score_sum: 66.3064, score_diff: -1.7253, il_win: 76.0000, rl_win: 267.7500
2025-09-24 12:32:08,134 - mmdet - INFO - Epoch [15][2280/3517]	lr: 1.856e-05, eta: 7:20:11, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1588, debug_std_frame_0: 0.2197, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3280, debug_std_frame_4: 0.3756, debug_std_frame_5: 0.4310, loss_rl: -0.2396, loss_critic: 1.2270, loss_rl_bc: 0.0019, il_score: 0.6753, rl_score: 0.6749, prev_frame_loss_waypoint_0: 0.1920, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.3768, grad_norm: 58.8468, il_score_sum: 64.6599, rl_score_sum: 66.3484, score_diff: -1.6884, il_win: 76.0000, rl_win: 268.6000
2025-09-24 12:32:24,080 - mmdet - INFO - Epoch [15][2300/3517]	lr: 1.856e-05, eta: 7:19:55, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1719, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2383, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3396, debug_std_frame_4: 0.3913, debug_std_frame_5: 0.4501, loss_rl: -0.2447, loss_critic: 1.2348, loss_rl_bc: 0.0062, il_score: 0.6466, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1838, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.3844, grad_norm: 45.5467, il_score_sum: 64.6599, rl_score_sum: 66.3484, score_diff: -1.6884, il_win: 76.0000, rl_win: 268.6000
2025-09-24 12:32:40,185 - mmdet - INFO - Epoch [15][2320/3517]	lr: 1.856e-05, eta: 7:19:39, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1776, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2327, debug_std_frame_2: 0.2792, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4333, loss_rl: -0.2862, loss_critic: 1.3437, loss_rl_bc: 0.0083, il_score: 0.6526, rl_score: 0.6962, prev_frame_loss_waypoint_0: 0.1968, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.4783, grad_norm: 49.9101, il_score_sum: 64.6599, rl_score_sum: 66.3484, score_diff: -1.6884, il_win: 76.0000, rl_win: 268.6000
2025-09-24 12:32:56,324 - mmdet - INFO - Epoch [15][2340/3517]	lr: 1.856e-05, eta: 7:19:23, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1772, debug_std_frame_0: 0.2183, debug_std_frame_1: 0.2397, debug_std_frame_2: 0.2848, debug_std_frame_3: 0.3369, debug_std_frame_4: 0.3889, debug_std_frame_5: 0.4455, loss_rl: -0.2011, loss_critic: 1.3858, loss_rl_bc: 0.0080, il_score: 0.6263, rl_score: 0.6568, prev_frame_loss_waypoint_0: 0.1916, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5989, grad_norm: 62.3789, il_score_sum: 64.6599, rl_score_sum: 66.3484, score_diff: -1.6884, il_win: 76.0000, rl_win: 268.6000
2025-09-24 12:33:12,478 - mmdet - INFO - Epoch [15][2360/3517]	lr: 1.856e-05, eta: 7:19:07, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1816, debug_std_frame_0: 0.2201, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2940, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.3972, debug_std_frame_5: 0.4564, loss_rl: -0.2538, loss_critic: 1.1206, loss_rl_bc: 0.0084, il_score: 0.6453, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.2046, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.2963, grad_norm: 65.5720, il_score_sum: 64.6599, rl_score_sum: 66.3484, score_diff: -1.6884, il_win: 76.0000, rl_win: 268.6000
2025-09-24 12:33:28,725 - mmdet - INFO - Epoch [15][2380/3517]	lr: 1.856e-05, eta: 7:18:51, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1771, debug_std_frame_0: 0.2197, debug_std_frame_1: 0.2446, debug_std_frame_2: 0.2955, debug_std_frame_3: 0.3478, debug_std_frame_4: 0.4024, debug_std_frame_5: 0.4587, loss_rl: -0.2786, loss_critic: 1.2823, loss_rl_bc: 0.0086, il_score: 0.6673, rl_score: 0.6730, prev_frame_loss_waypoint_0: 0.1963, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.4257, grad_norm: 46.4390, il_score_sum: 64.6757, rl_score_sum: 66.4457, score_diff: -1.7700, il_win: 76.0000, rl_win: 269.4500
2025-09-24 12:33:44,747 - mmdet - INFO - Epoch [15][2400/3517]	lr: 1.856e-05, eta: 7:18:35, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1735, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2452, debug_std_frame_2: 0.2949, debug_std_frame_3: 0.3466, debug_std_frame_4: 0.3989, debug_std_frame_5: 0.4575, loss_rl: -0.2861, loss_critic: 1.3120, loss_rl_bc: 0.0037, il_score: 0.6568, rl_score: 0.6901, prev_frame_loss_waypoint_0: 0.1880, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.4230, grad_norm: 59.8667, il_score_sum: 64.6757, rl_score_sum: 66.4457, score_diff: -1.7700, il_win: 76.0000, rl_win: 269.4500
2025-09-24 12:34:00,771 - mmdet - INFO - Epoch [15][2420/3517]	lr: 1.856e-05, eta: 7:18:19, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1859, debug_std_frame_0: 0.2191, debug_std_frame_1: 0.2428, debug_std_frame_2: 0.2907, debug_std_frame_3: 0.3430, debug_std_frame_4: 0.3998, debug_std_frame_5: 0.4616, loss_rl: -0.3045, loss_critic: 1.3172, loss_rl_bc: 0.0086, il_score: 0.6820, rl_score: 0.7031, prev_frame_loss_waypoint_0: 0.1929, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.4408, grad_norm: 42.9262, il_score_sum: 64.6757, rl_score_sum: 66.4457, score_diff: -1.7700, il_win: 76.0000, rl_win: 269.4500
2025-09-24 12:34:16,720 - mmdet - INFO - Epoch [15][2440/3517]	lr: 1.856e-05, eta: 7:18:03, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1817, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2398, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3400, debug_std_frame_4: 0.3920, debug_std_frame_5: 0.4499, loss_rl: -0.2942, loss_critic: 1.0047, loss_rl_bc: 0.0091, il_score: 0.6604, rl_score: 0.6785, prev_frame_loss_waypoint_0: 0.1916, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.1287, grad_norm: 45.2074, il_score_sum: 64.6757, rl_score_sum: 66.4457, score_diff: -1.7700, il_win: 76.0000, rl_win: 269.4500
2025-09-24 12:34:32,730 - mmdet - INFO - Epoch [15][2460/3517]	lr: 1.856e-05, eta: 7:17:47, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1998, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2434, debug_std_frame_2: 0.2943, debug_std_frame_3: 0.3506, debug_std_frame_4: 0.4086, debug_std_frame_5: 0.4736, loss_rl: -0.2065, loss_critic: 1.3969, loss_rl_bc: 0.0134, il_score: 0.6451, rl_score: 0.6653, prev_frame_loss_waypoint_0: 0.1799, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6168, grad_norm: 53.1263, il_score_sum: 64.6757, rl_score_sum: 66.4457, score_diff: -1.7700, il_win: 76.0000, rl_win: 269.4500
2025-09-24 12:34:49,025 - mmdet - INFO - Epoch [15][2480/3517]	lr: 1.856e-05, eta: 7:17:31, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1841, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2444, debug_std_frame_2: 0.2963, debug_std_frame_3: 0.3499, debug_std_frame_4: 0.4058, debug_std_frame_5: 0.4675, loss_rl: -0.1938, loss_critic: 1.0742, loss_rl_bc: 0.0134, il_score: 0.6466, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.1987, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.3195, grad_norm: 48.5574, il_score_sum: 64.7214, rl_score_sum: 66.5410, score_diff: -1.8196, il_win: 76.0000, rl_win: 270.3000
2025-09-24 12:35:05,035 - mmdet - INFO - Epoch [15][2500/3517]	lr: 1.856e-05, eta: 7:17:15, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1866, debug_std_frame_0: 0.2230, debug_std_frame_1: 0.2516, debug_std_frame_2: 0.3037, debug_std_frame_3: 0.3570, debug_std_frame_4: 0.4114, debug_std_frame_5: 0.4707, loss_rl: -0.2888, loss_critic: 1.2716, loss_rl_bc: 0.0118, il_score: 0.6550, rl_score: 0.6950, prev_frame_loss_waypoint_0: 0.1930, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.4136, grad_norm: 44.0346, il_score_sum: 64.7214, rl_score_sum: 66.5410, score_diff: -1.8196, il_win: 76.0000, rl_win: 270.3000
2025-09-24 12:35:20,971 - mmdet - INFO - Epoch [15][2520/3517]	lr: 1.856e-05, eta: 7:16:59, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1681, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2907, debug_std_frame_3: 0.3432, debug_std_frame_4: 0.3948, debug_std_frame_5: 0.4503, loss_rl: -0.2607, loss_critic: 1.1887, loss_rl_bc: 0.0052, il_score: 0.6553, rl_score: 0.6743, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3074, grad_norm: 37.2168, il_score_sum: 64.7214, rl_score_sum: 66.5410, score_diff: -1.8196, il_win: 76.0000, rl_win: 270.3000
2025-09-24 12:35:36,764 - mmdet - INFO - Epoch [15][2540/3517]	lr: 1.856e-05, eta: 7:16:42, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1911, debug_std_frame_0: 0.2184, debug_std_frame_1: 0.2413, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3435, debug_std_frame_4: 0.3941, debug_std_frame_5: 0.4504, loss_rl: -0.2832, loss_critic: 1.4187, loss_rl_bc: 0.0071, il_score: 0.6261, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.2039, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.5777, grad_norm: 68.6976, il_score_sum: 64.7214, rl_score_sum: 66.5410, score_diff: -1.8196, il_win: 76.0000, rl_win: 270.3000
2025-09-24 12:35:52,762 - mmdet - INFO - Epoch [15][2560/3517]	lr: 1.856e-05, eta: 7:16:26, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1948, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2424, debug_std_frame_2: 0.2939, debug_std_frame_3: 0.3506, debug_std_frame_4: 0.4050, debug_std_frame_5: 0.4655, loss_rl: -0.2757, loss_critic: 1.1413, loss_rl_bc: 0.0103, il_score: 0.6405, rl_score: 0.6770, prev_frame_loss_waypoint_0: 0.2287, prev_frame_loss_rl_bc_0: 0.0196, loss: 1.3470, grad_norm: 50.3190, il_score_sum: 64.7214, rl_score_sum: 66.5410, score_diff: -1.8196, il_win: 76.0000, rl_win: 270.3000
2025-09-24 12:36:08,619 - mmdet - INFO - Epoch [15][2580/3517]	lr: 1.856e-05, eta: 7:16:10, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1724, debug_std_frame_0: 0.2201, debug_std_frame_1: 0.2532, debug_std_frame_2: 0.3116, debug_std_frame_3: 0.3696, debug_std_frame_4: 0.4242, debug_std_frame_5: 0.4863, loss_rl: -0.2449, loss_critic: 1.2050, loss_rl_bc: 0.0081, il_score: 0.6793, rl_score: 0.6755, prev_frame_loss_waypoint_0: 0.2057, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.3877, grad_norm: 50.9832, il_score_sum: 64.7797, rl_score_sum: 66.6400, score_diff: -1.8603, il_win: 76.0000, rl_win: 271.1500
2025-09-24 12:36:24,444 - mmdet - INFO - Epoch [15][2600/3517]	lr: 1.856e-05, eta: 7:15:54, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1737, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.3060, debug_std_frame_3: 0.3644, debug_std_frame_4: 0.4195, debug_std_frame_5: 0.4787, loss_rl: -0.2363, loss_critic: 1.6921, loss_rl_bc: 0.0102, il_score: 0.6512, rl_score: 0.6806, prev_frame_loss_waypoint_0: 0.1985, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.8768, grad_norm: 45.3576, il_score_sum: 64.7797, rl_score_sum: 66.6400, score_diff: -1.8603, il_win: 76.0000, rl_win: 271.1500
2025-09-24 12:36:40,413 - mmdet - INFO - Epoch [15][2620/3517]	lr: 1.856e-05, eta: 7:15:38, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1854, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2392, debug_std_frame_2: 0.2908, debug_std_frame_3: 0.3482, debug_std_frame_4: 0.4021, debug_std_frame_5: 0.4626, loss_rl: -0.2430, loss_critic: 1.2410, loss_rl_bc: 0.0068, il_score: 0.6381, rl_score: 0.6808, prev_frame_loss_waypoint_0: 0.1989, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.4242, grad_norm: 51.6049, il_score_sum: 64.7797, rl_score_sum: 66.6400, score_diff: -1.8603, il_win: 76.0000, rl_win: 271.1500
2025-09-24 12:36:56,325 - mmdet - INFO - Epoch [15][2640/3517]	lr: 1.856e-05, eta: 7:15:22, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1716, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2386, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3424, debug_std_frame_4: 0.3915, debug_std_frame_5: 0.4472, loss_rl: -0.2857, loss_critic: 1.4127, loss_rl_bc: 0.0065, il_score: 0.6693, rl_score: 0.6785, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.5218, grad_norm: 44.1717, il_score_sum: 64.7797, rl_score_sum: 66.6400, score_diff: -1.8603, il_win: 76.0000, rl_win: 271.1500
2025-09-24 12:37:12,315 - mmdet - INFO - Epoch [15][2660/3517]	lr: 1.856e-05, eta: 7:15:06, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.2008, debug_std_frame_0: 0.2193, debug_std_frame_1: 0.2501, debug_std_frame_2: 0.3018, debug_std_frame_3: 0.3532, debug_std_frame_4: 0.4063, debug_std_frame_5: 0.4646, loss_rl: -0.2188, loss_critic: 1.4233, loss_rl_bc: 0.0188, il_score: 0.6282, rl_score: 0.6191, prev_frame_loss_waypoint_0: 0.1984, prev_frame_loss_rl_bc_0: 0.0190, loss: 1.6699, grad_norm: 57.7082, il_score_sum: 64.7797, rl_score_sum: 66.6400, score_diff: -1.8603, il_win: 76.0000, rl_win: 271.1500
2025-09-24 12:37:28,242 - mmdet - INFO - Epoch [15][2680/3517]	lr: 1.856e-05, eta: 7:14:49, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0303, loss_waypoint: 0.1951, debug_std_frame_0: 0.2216, debug_std_frame_1: 0.2579, debug_std_frame_2: 0.3143, debug_std_frame_3: 0.3694, debug_std_frame_4: 0.4277, debug_std_frame_5: 0.4871, loss_rl: -0.1797, loss_critic: 1.0620, loss_rl_bc: 0.0140, il_score: 0.6334, rl_score: 0.6269, prev_frame_loss_waypoint_0: 0.2048, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.3410, grad_norm: 49.9170, il_score_sum: 64.8074, rl_score_sum: 66.6382, score_diff: -1.8308, il_win: 76.0000, rl_win: 272.0000
2025-09-24 12:37:44,042 - mmdet - INFO - Epoch [15][2700/3517]	lr: 1.856e-05, eta: 7:14:33, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1701, debug_std_frame_0: 0.2258, debug_std_frame_1: 0.2581, debug_std_frame_2: 0.3084, debug_std_frame_3: 0.3589, debug_std_frame_4: 0.4140, debug_std_frame_5: 0.4700, loss_rl: -0.2095, loss_critic: 1.6573, loss_rl_bc: 0.0159, il_score: 0.6166, rl_score: 0.6093, prev_frame_loss_waypoint_0: 0.1875, prev_frame_loss_rl_bc_0: 0.0186, loss: 1.8690, grad_norm: 60.3559, il_score_sum: 64.8074, rl_score_sum: 66.6382, score_diff: -1.8308, il_win: 76.0000, rl_win: 272.0000
2025-09-24 12:38:00,057 - mmdet - INFO - Epoch [15][2720/3517]	lr: 1.856e-05, eta: 7:14:17, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1790, debug_std_frame_0: 0.2396, debug_std_frame_1: 0.2789, debug_std_frame_2: 0.3319, debug_std_frame_3: 0.3872, debug_std_frame_4: 0.4406, debug_std_frame_5: 0.5007, loss_rl: -0.2099, loss_critic: 1.3762, loss_rl_bc: 0.0132, il_score: 0.6329, rl_score: 0.6416, prev_frame_loss_waypoint_0: 0.1777, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.5757, grad_norm: 40.7795, il_score_sum: 64.8074, rl_score_sum: 66.6382, score_diff: -1.8308, il_win: 76.0000, rl_win: 272.0000
2025-09-24 12:38:15,985 - mmdet - INFO - Epoch [15][2740/3517]	lr: 1.856e-05, eta: 7:14:01, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1935, debug_std_frame_0: 0.2308, debug_std_frame_1: 0.2651, debug_std_frame_2: 0.3166, debug_std_frame_3: 0.3713, debug_std_frame_4: 0.4270, debug_std_frame_5: 0.4824, loss_rl: -0.2553, loss_critic: 1.3981, loss_rl_bc: 0.0134, il_score: 0.6206, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5678, grad_norm: 48.7795, il_score_sum: 64.8074, rl_score_sum: 66.6382, score_diff: -1.8308, il_win: 76.0000, rl_win: 272.0000
2025-09-24 12:38:31,768 - mmdet - INFO - Epoch [15][2760/3517]	lr: 1.856e-05, eta: 7:13:45, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1621, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2515, debug_std_frame_2: 0.3012, debug_std_frame_3: 0.3575, debug_std_frame_4: 0.4103, debug_std_frame_5: 0.4638, loss_rl: -0.2501, loss_critic: 1.0879, loss_rl_bc: 0.0045, il_score: 0.6588, rl_score: 0.6780, prev_frame_loss_waypoint_0: 0.1860, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.2279, grad_norm: 52.8781, il_score_sum: 64.8074, rl_score_sum: 66.6382, score_diff: -1.8308, il_win: 76.0000, rl_win: 272.0000
2025-09-24 12:38:47,748 - mmdet - INFO - Epoch [15][2780/3517]	lr: 1.856e-05, eta: 7:13:29, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1718, debug_std_frame_0: 0.2151, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.2934, debug_std_frame_3: 0.3490, debug_std_frame_4: 0.4034, debug_std_frame_5: 0.4593, loss_rl: -0.2969, loss_critic: 1.1748, loss_rl_bc: 0.0060, il_score: 0.6807, rl_score: 0.7015, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.2757, grad_norm: 51.9138, il_score_sum: 64.6985, rl_score_sum: 66.5281, score_diff: -1.8295, il_win: 76.0000, rl_win: 272.8500
2025-09-24 12:39:03,698 - mmdet - INFO - Epoch [15][2800/3517]	lr: 1.856e-05, eta: 7:13:12, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1952, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2421, debug_std_frame_2: 0.2962, debug_std_frame_3: 0.3548, debug_std_frame_4: 0.4113, debug_std_frame_5: 0.4687, loss_rl: -0.2056, loss_critic: 1.1546, loss_rl_bc: 0.0135, il_score: 0.6657, rl_score: 0.6607, prev_frame_loss_waypoint_0: 0.2137, prev_frame_loss_rl_bc_0: 0.0182, loss: 1.4194, grad_norm: 58.0193, il_score_sum: 64.6985, rl_score_sum: 66.5281, score_diff: -1.8295, il_win: 76.0000, rl_win: 272.8500
2025-09-24 12:39:19,591 - mmdet - INFO - Epoch [15][2820/3517]	lr: 1.856e-05, eta: 7:12:56, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1677, debug_std_frame_0: 0.2152, debug_std_frame_1: 0.2444, debug_std_frame_2: 0.2952, debug_std_frame_3: 0.3507, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4621, loss_rl: -0.2867, loss_critic: 1.0282, loss_rl_bc: 0.0044, il_score: 0.6680, rl_score: 0.6915, prev_frame_loss_waypoint_0: 0.1773, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.1231, grad_norm: 51.3426, il_score_sum: 64.6985, rl_score_sum: 66.5281, score_diff: -1.8295, il_win: 76.0000, rl_win: 272.8500
2025-09-24 12:39:35,316 - mmdet - INFO - Epoch [15][2840/3517]	lr: 1.856e-05, eta: 7:12:40, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1707, debug_std_frame_0: 0.2179, debug_std_frame_1: 0.2453, debug_std_frame_2: 0.2931, debug_std_frame_3: 0.3437, debug_std_frame_4: 0.3935, debug_std_frame_5: 0.4442, loss_rl: -0.2609, loss_critic: 1.5084, loss_rl_bc: 0.0116, il_score: 0.6249, rl_score: 0.6503, prev_frame_loss_waypoint_0: 0.1903, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.6624, grad_norm: 44.9189, il_score_sum: 64.6985, rl_score_sum: 66.5281, score_diff: -1.8295, il_win: 76.0000, rl_win: 272.8500
2025-09-24 12:39:51,278 - mmdet - INFO - Epoch [15][2860/3517]	lr: 1.856e-05, eta: 7:12:24, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.2064, debug_std_frame_0: 0.2221, debug_std_frame_1: 0.2590, debug_std_frame_2: 0.3143, debug_std_frame_3: 0.3717, debug_std_frame_4: 0.4258, debug_std_frame_5: 0.4810, loss_rl: -0.1948, loss_critic: 1.2475, loss_rl_bc: 0.0158, il_score: 0.6077, rl_score: 0.6467, prev_frame_loss_waypoint_0: 0.2128, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.5360, grad_norm: 56.3727, il_score_sum: 64.6985, rl_score_sum: 66.5281, score_diff: -1.8295, il_win: 76.0000, rl_win: 272.8500
2025-09-24 12:40:07,533 - mmdet - INFO - Epoch [15][2880/3517]	lr: 1.856e-05, eta: 7:12:08, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.2068, debug_std_frame_0: 0.2307, debug_std_frame_1: 0.2687, debug_std_frame_2: 0.3220, debug_std_frame_3: 0.3783, debug_std_frame_4: 0.4358, debug_std_frame_5: 0.4949, loss_rl: -0.2085, loss_critic: 1.4558, loss_rl_bc: 0.0271, il_score: 0.6242, rl_score: 0.6155, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.7234, grad_norm: 51.0629, il_score_sum: 64.6982, rl_score_sum: 66.5542, score_diff: -1.8560, il_win: 76.0000, rl_win: 273.7000
2025-09-24 12:40:23,449 - mmdet - INFO - Epoch [15][2900/3517]	lr: 1.856e-05, eta: 7:11:52, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1693, debug_std_frame_0: 0.2313, debug_std_frame_1: 0.2695, debug_std_frame_2: 0.3265, debug_std_frame_3: 0.3843, debug_std_frame_4: 0.4431, debug_std_frame_5: 0.5016, loss_rl: -0.2748, loss_critic: 1.6347, loss_rl_bc: 0.0088, il_score: 0.6496, rl_score: 0.6549, prev_frame_loss_waypoint_0: 0.1890, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.7657, grad_norm: 54.5141, il_score_sum: 64.6982, rl_score_sum: 66.5542, score_diff: -1.8560, il_win: 76.0000, rl_win: 273.7000
2025-09-24 12:40:39,311 - mmdet - INFO - Epoch [15][2920/3517]	lr: 1.856e-05, eta: 7:11:36, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1828, debug_std_frame_0: 0.2244, debug_std_frame_1: 0.2556, debug_std_frame_2: 0.3060, debug_std_frame_3: 0.3622, debug_std_frame_4: 0.4169, debug_std_frame_5: 0.4741, loss_rl: -0.2462, loss_critic: 1.3913, loss_rl_bc: 0.0101, il_score: 0.6640, rl_score: 0.6753, prev_frame_loss_waypoint_0: 0.1908, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.5660, grad_norm: 47.7863, il_score_sum: 64.6982, rl_score_sum: 66.5542, score_diff: -1.8560, il_win: 76.0000, rl_win: 273.7000
2025-09-24 12:40:55,107 - mmdet - INFO - Epoch [15][2940/3517]	lr: 1.856e-05, eta: 7:11:19, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1799, debug_std_frame_0: 0.2217, debug_std_frame_1: 0.2486, debug_std_frame_2: 0.2947, debug_std_frame_3: 0.3446, debug_std_frame_4: 0.3965, debug_std_frame_5: 0.4542, loss_rl: -0.2618, loss_critic: 1.4725, loss_rl_bc: 0.0077, il_score: 0.6509, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.1926, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.6286, grad_norm: 48.7454, il_score_sum: 64.6982, rl_score_sum: 66.5542, score_diff: -1.8560, il_win: 76.0000, rl_win: 273.7000
2025-09-24 12:41:11,096 - mmdet - INFO - Epoch [15][2960/3517]	lr: 1.856e-05, eta: 7:11:03, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1676, debug_std_frame_0: 0.2204, debug_std_frame_1: 0.2487, debug_std_frame_2: 0.2989, debug_std_frame_3: 0.3507, debug_std_frame_4: 0.4031, debug_std_frame_5: 0.4599, loss_rl: -0.2502, loss_critic: 1.4978, loss_rl_bc: 0.0072, il_score: 0.6825, rl_score: 0.6753, prev_frame_loss_waypoint_0: 0.1886, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.6510, grad_norm: 38.8541, il_score_sum: 64.6982, rl_score_sum: 66.5542, score_diff: -1.8560, il_win: 76.0000, rl_win: 273.7000
2025-09-24 12:41:27,191 - mmdet - INFO - Epoch [15][2980/3517]	lr: 1.856e-05, eta: 7:10:47, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1488, debug_std_frame_0: 0.2174, debug_std_frame_1: 0.2449, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3829, debug_std_frame_5: 0.4357, loss_rl: -0.3051, loss_critic: 1.3873, loss_rl_bc: 0.0013, il_score: 0.6890, rl_score: 0.7182, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.4414, grad_norm: 53.9961, il_score_sum: 64.8032, rl_score_sum: 66.5364, score_diff: -1.7332, il_win: 76.0000, rl_win: 274.5000
2025-09-24 12:41:43,073 - mmdet - INFO - Epoch [15][3000/3517]	lr: 1.856e-05, eta: 7:10:31, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1715, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2462, debug_std_frame_2: 0.2926, debug_std_frame_3: 0.3421, debug_std_frame_4: 0.3952, debug_std_frame_5: 0.4516, loss_rl: -0.2572, loss_critic: 1.4638, loss_rl_bc: 0.0072, il_score: 0.6460, rl_score: 0.6705, prev_frame_loss_waypoint_0: 0.1930, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.6150, grad_norm: 67.8734, il_score_sum: 64.8032, rl_score_sum: 66.5364, score_diff: -1.7332, il_win: 76.0000, rl_win: 274.5000
2025-09-24 12:41:58,934 - mmdet - INFO - Epoch [15][3020/3517]	lr: 1.856e-05, eta: 7:10:15, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1801, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2911, debug_std_frame_3: 0.3486, debug_std_frame_4: 0.4033, debug_std_frame_5: 0.4670, loss_rl: -0.2466, loss_critic: 1.2165, loss_rl_bc: 0.0103, il_score: 0.6465, rl_score: 0.6514, prev_frame_loss_waypoint_0: 0.2022, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.4022, grad_norm: 47.4809, il_score_sum: 64.8032, rl_score_sum: 66.5364, score_diff: -1.7332, il_win: 76.0000, rl_win: 274.5000
2025-09-24 12:42:14,926 - mmdet - INFO - Epoch [15][3040/3517]	lr: 1.856e-05, eta: 7:09:59, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1647, debug_std_frame_0: 0.2160, debug_std_frame_1: 0.2379, debug_std_frame_2: 0.2841, debug_std_frame_3: 0.3374, debug_std_frame_4: 0.3894, debug_std_frame_5: 0.4476, loss_rl: -0.3047, loss_critic: 1.4046, loss_rl_bc: 0.0059, il_score: 0.6536, rl_score: 0.6841, prev_frame_loss_waypoint_0: 0.1964, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.5072, grad_norm: 48.2468, il_score_sum: 64.8032, rl_score_sum: 66.5364, score_diff: -1.7332, il_win: 76.0000, rl_win: 274.5000
2025-09-24 12:42:30,957 - mmdet - INFO - Epoch [15][3060/3517]	lr: 1.856e-05, eta: 7:09:43, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1695, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2371, debug_std_frame_2: 0.2834, debug_std_frame_3: 0.3340, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4424, loss_rl: -0.2760, loss_critic: 1.2939, loss_rl_bc: 0.0046, il_score: 0.6847, rl_score: 0.6716, prev_frame_loss_waypoint_0: 0.1911, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.4181, grad_norm: 46.0066, il_score_sum: 64.8032, rl_score_sum: 66.5364, score_diff: -1.7332, il_win: 76.0000, rl_win: 274.5000
2025-09-24 12:42:46,885 - mmdet - INFO - Epoch [15][3080/3517]	lr: 1.856e-05, eta: 7:09:27, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1905, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2336, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3325, debug_std_frame_4: 0.3830, debug_std_frame_5: 0.4392, loss_rl: -0.2115, loss_critic: 1.4707, loss_rl_bc: 0.0171, il_score: 0.6599, rl_score: 0.6415, prev_frame_loss_waypoint_0: 0.1977, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.7025, grad_norm: 63.8670, il_score_sum: 64.9499, rl_score_sum: 66.6847, score_diff: -1.7348, il_win: 76.0000, rl_win: 275.3000
2025-09-24 12:43:02,816 - mmdet - INFO - Epoch [15][3100/3517]	lr: 1.856e-05, eta: 7:09:10, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1966, debug_std_frame_0: 0.2243, debug_std_frame_1: 0.2554, debug_std_frame_2: 0.3098, debug_std_frame_3: 0.3647, debug_std_frame_4: 0.4195, debug_std_frame_5: 0.4790, loss_rl: -0.1920, loss_critic: 1.3198, loss_rl_bc: 0.0149, il_score: 0.6392, rl_score: 0.6432, prev_frame_loss_waypoint_0: 0.2238, prev_frame_loss_rl_bc_0: 0.0251, loss: 1.6179, grad_norm: 54.6532, il_score_sum: 64.9499, rl_score_sum: 66.6847, score_diff: -1.7348, il_win: 76.0000, rl_win: 275.3000
2025-09-24 12:43:18,665 - mmdet - INFO - Epoch [15][3120/3517]	lr: 1.856e-05, eta: 7:08:54, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0304, loss_waypoint: 0.1794, debug_std_frame_0: 0.2171, debug_std_frame_1: 0.2507, debug_std_frame_2: 0.3045, debug_std_frame_3: 0.3617, debug_std_frame_4: 0.4213, debug_std_frame_5: 0.4825, loss_rl: -0.2234, loss_critic: 1.2413, loss_rl_bc: 0.0107, il_score: 0.6523, rl_score: 0.6586, prev_frame_loss_waypoint_0: 0.1986, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.4476, grad_norm: 62.0479, il_score_sum: 64.9499, rl_score_sum: 66.6847, score_diff: -1.7348, il_win: 76.0000, rl_win: 275.3000
2025-09-24 12:43:34,608 - mmdet - INFO - Epoch [15][3140/3517]	lr: 1.856e-05, eta: 7:08:38, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1572, debug_std_frame_0: 0.2131, debug_std_frame_1: 0.2383, debug_std_frame_2: 0.2839, debug_std_frame_3: 0.3315, debug_std_frame_4: 0.3786, debug_std_frame_5: 0.4296, loss_rl: -0.2963, loss_critic: 1.4062, loss_rl_bc: 0.0057, il_score: 0.6470, rl_score: 0.6896, prev_frame_loss_waypoint_0: 0.1749, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.4794, grad_norm: 40.7565, il_score_sum: 64.9499, rl_score_sum: 66.6847, score_diff: -1.7348, il_win: 76.0000, rl_win: 275.3000
2025-09-24 12:43:50,319 - mmdet - INFO - Epoch [15][3160/3517]	lr: 1.856e-05, eta: 7:08:22, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1940, debug_std_frame_0: 0.2183, debug_std_frame_1: 0.2482, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3600, debug_std_frame_4: 0.4141, debug_std_frame_5: 0.4766, loss_rl: -0.2417, loss_critic: 1.6234, loss_rl_bc: 0.0121, il_score: 0.6021, rl_score: 0.6214, prev_frame_loss_waypoint_0: 0.2090, prev_frame_loss_rl_bc_0: 0.0467, loss: 1.8719, grad_norm: 54.0779, il_score_sum: 64.9499, rl_score_sum: 66.6847, score_diff: -1.7348, il_win: 76.0000, rl_win: 275.3000
2025-09-24 12:44:06,272 - mmdet - INFO - Epoch [15][3180/3517]	lr: 1.856e-05, eta: 7:08:06, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1724, debug_std_frame_0: 0.2195, debug_std_frame_1: 0.2559, debug_std_frame_2: 0.3118, debug_std_frame_3: 0.3668, debug_std_frame_4: 0.4196, debug_std_frame_5: 0.4767, loss_rl: -0.2600, loss_critic: 1.4221, loss_rl_bc: 0.0099, il_score: 0.6622, rl_score: 0.6711, prev_frame_loss_waypoint_0: 0.2096, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.5997, grad_norm: 40.2673, il_score_sum: 64.9148, rl_score_sum: 66.6188, score_diff: -1.7041, il_win: 76.0000, rl_win: 276.0500
2025-09-24 12:44:22,186 - mmdet - INFO - Epoch [15][3200/3517]	lr: 1.856e-05, eta: 7:07:50, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1849, debug_std_frame_0: 0.2224, debug_std_frame_1: 0.2536, debug_std_frame_2: 0.3025, debug_std_frame_3: 0.3554, debug_std_frame_4: 0.4057, debug_std_frame_5: 0.4599, loss_rl: -0.2531, loss_critic: 1.2486, loss_rl_bc: 0.0112, il_score: 0.6535, rl_score: 0.6544, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4173, grad_norm: 63.5465, il_score_sum: 64.9148, rl_score_sum: 66.6188, score_diff: -1.7041, il_win: 76.0000, rl_win: 276.0500
2025-09-24 12:44:38,056 - mmdet - INFO - Epoch [15][3220/3517]	lr: 1.856e-05, eta: 7:07:33, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1754, debug_std_frame_0: 0.2239, debug_std_frame_1: 0.2571, debug_std_frame_2: 0.3043, debug_std_frame_3: 0.3583, debug_std_frame_4: 0.4090, debug_std_frame_5: 0.4617, loss_rl: -0.2289, loss_critic: 1.2077, loss_rl_bc: 0.0087, il_score: 0.6644, rl_score: 0.6747, prev_frame_loss_waypoint_0: 0.1950, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.3989, grad_norm: 38.8919, il_score_sum: 64.9148, rl_score_sum: 66.6188, score_diff: -1.7041, il_win: 76.0000, rl_win: 276.0500
2025-09-24 12:44:53,978 - mmdet - INFO - Epoch [15][3240/3517]	lr: 1.856e-05, eta: 7:07:17, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1730, debug_std_frame_0: 0.2189, debug_std_frame_1: 0.2520, debug_std_frame_2: 0.3034, debug_std_frame_3: 0.3617, debug_std_frame_4: 0.4162, debug_std_frame_5: 0.4732, loss_rl: -0.2108, loss_critic: 1.2983, loss_rl_bc: 0.0083, il_score: 0.6661, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.2067, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.5173, grad_norm: 32.0204, il_score_sum: 64.9148, rl_score_sum: 66.6188, score_diff: -1.7041, il_win: 76.0000, rl_win: 276.0500
2025-09-24 12:45:09,901 - mmdet - INFO - Epoch [15][3260/3517]	lr: 1.856e-05, eta: 7:07:01, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0299, loss_waypoint: 0.1771, debug_std_frame_0: 0.2184, debug_std_frame_1: 0.2445, debug_std_frame_2: 0.2891, debug_std_frame_3: 0.3403, debug_std_frame_4: 0.3879, debug_std_frame_5: 0.4379, loss_rl: -0.2776, loss_critic: 0.9386, loss_rl_bc: 0.0067, il_score: 0.6549, rl_score: 0.6951, prev_frame_loss_waypoint_0: 0.1871, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.0746, grad_norm: 47.9252, il_score_sum: 64.9148, rl_score_sum: 66.6188, score_diff: -1.7041, il_win: 76.0000, rl_win: 276.0500
2025-09-24 12:45:25,918 - mmdet - INFO - Epoch [15][3280/3517]	lr: 1.856e-05, eta: 7:06:45, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1774, debug_std_frame_0: 0.2137, debug_std_frame_1: 0.2424, debug_std_frame_2: 0.2906, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.4002, debug_std_frame_5: 0.4544, loss_rl: -0.2568, loss_critic: 1.1636, loss_rl_bc: 0.0063, il_score: 0.6592, rl_score: 0.6852, prev_frame_loss_waypoint_0: 0.1972, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.3305, grad_norm: 55.9439, il_score_sum: 64.9902, rl_score_sum: 66.6934, score_diff: -1.7033, il_win: 76.0000, rl_win: 276.8000
2025-09-24 12:45:41,807 - mmdet - INFO - Epoch [15][3300/3517]	lr: 1.856e-05, eta: 7:06:29, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1901, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2418, debug_std_frame_2: 0.2944, debug_std_frame_3: 0.3554, debug_std_frame_4: 0.4121, debug_std_frame_5: 0.4706, loss_rl: -0.2167, loss_critic: 1.4119, loss_rl_bc: 0.0098, il_score: 0.5811, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.2027, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.6365, grad_norm: 52.7405, il_score_sum: 64.9902, rl_score_sum: 66.6934, score_diff: -1.7033, il_win: 76.0000, rl_win: 276.8000
2025-09-24 12:45:57,650 - mmdet - INFO - Epoch [15][3320/3517]	lr: 1.856e-05, eta: 7:06:13, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1674, debug_std_frame_0: 0.2201, debug_std_frame_1: 0.2440, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3413, debug_std_frame_4: 0.3911, debug_std_frame_5: 0.4490, loss_rl: -0.2657, loss_critic: 1.6468, loss_rl_bc: 0.0087, il_score: 0.6387, rl_score: 0.6552, prev_frame_loss_waypoint_0: 0.1947, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.7935, grad_norm: 48.8235, il_score_sum: 64.9902, rl_score_sum: 66.6934, score_diff: -1.7033, il_win: 76.0000, rl_win: 276.8000
2025-09-24 12:46:13,511 - mmdet - INFO - Epoch [15][3340/3517]	lr: 1.856e-05, eta: 7:05:57, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1856, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.2959, debug_std_frame_3: 0.3518, debug_std_frame_4: 0.4040, debug_std_frame_5: 0.4618, loss_rl: -0.2795, loss_critic: 1.3526, loss_rl_bc: 0.0091, il_score: 0.6337, rl_score: 0.6669, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.4808, grad_norm: 40.4749, il_score_sum: 64.9902, rl_score_sum: 66.6934, score_diff: -1.7033, il_win: 76.0000, rl_win: 276.8000
2025-09-24 12:46:29,437 - mmdet - INFO - Epoch [15][3360/3517]	lr: 1.856e-05, eta: 7:05:40, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1729, debug_std_frame_0: 0.2208, debug_std_frame_1: 0.2489, debug_std_frame_2: 0.3001, debug_std_frame_3: 0.3592, debug_std_frame_4: 0.4160, debug_std_frame_5: 0.4779, loss_rl: -0.2615, loss_critic: 1.2854, loss_rl_bc: 0.0111, il_score: 0.6479, rl_score: 0.6572, prev_frame_loss_waypoint_0: 0.2106, prev_frame_loss_rl_bc_0: 0.0175, loss: 1.4650, grad_norm: 59.2152, il_score_sum: 64.9902, rl_score_sum: 66.6934, score_diff: -1.7033, il_win: 76.0000, rl_win: 276.8000
2025-09-24 12:46:45,356 - mmdet - INFO - Epoch [15][3380/3517]	lr: 1.856e-05, eta: 7:05:24, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1825, debug_std_frame_0: 0.2218, debug_std_frame_1: 0.2486, debug_std_frame_2: 0.2950, debug_std_frame_3: 0.3527, debug_std_frame_4: 0.4066, debug_std_frame_5: 0.4657, loss_rl: -0.2204, loss_critic: 1.2813, loss_rl_bc: 0.0105, il_score: 0.6511, rl_score: 0.6694, prev_frame_loss_waypoint_0: 0.2122, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.5095, grad_norm: 49.9715, il_score_sum: 64.8913, rl_score_sum: 66.6909, score_diff: -1.7996, il_win: 76.0000, rl_win: 277.6000
2025-09-24 12:47:01,125 - mmdet - INFO - Epoch [15][3400/3517]	lr: 1.856e-05, eta: 7:05:08, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1995, debug_std_frame_0: 0.2276, debug_std_frame_1: 0.2561, debug_std_frame_2: 0.3029, debug_std_frame_3: 0.3605, debug_std_frame_4: 0.4121, debug_std_frame_5: 0.4718, loss_rl: -0.2306, loss_critic: 1.4286, loss_rl_bc: 0.0129, il_score: 0.6360, rl_score: 0.6321, prev_frame_loss_waypoint_0: 0.2086, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.6570, grad_norm: 54.9794, il_score_sum: 64.8913, rl_score_sum: 66.6909, score_diff: -1.7996, il_win: 76.0000, rl_win: 277.6000
2025-09-24 12:47:16,845 - mmdet - INFO - Epoch [15][3420/3517]	lr: 1.856e-05, eta: 7:04:52, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1912, debug_std_frame_0: 0.2276, debug_std_frame_1: 0.2517, debug_std_frame_2: 0.2964, debug_std_frame_3: 0.3525, debug_std_frame_4: 0.4044, debug_std_frame_5: 0.4645, loss_rl: -0.2499, loss_critic: 1.4008, loss_rl_bc: 0.0138, il_score: 0.6288, rl_score: 0.6538, prev_frame_loss_waypoint_0: 0.2022, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.5965, grad_norm: 61.5191, il_score_sum: 64.8913, rl_score_sum: 66.6909, score_diff: -1.7996, il_win: 76.0000, rl_win: 277.6000
2025-09-24 12:47:32,687 - mmdet - INFO - Epoch [15][3440/3517]	lr: 1.856e-05, eta: 7:04:36, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1814, debug_std_frame_0: 0.2242, debug_std_frame_1: 0.2517, debug_std_frame_2: 0.3033, debug_std_frame_3: 0.3629, debug_std_frame_4: 0.4204, debug_std_frame_5: 0.4819, loss_rl: -0.2061, loss_critic: 1.5430, loss_rl_bc: 0.0140, il_score: 0.6217, rl_score: 0.6229, prev_frame_loss_waypoint_0: 0.2076, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.7830, grad_norm: 55.7093, il_score_sum: 64.8913, rl_score_sum: 66.6909, score_diff: -1.7996, il_win: 76.0000, rl_win: 277.6000
2025-09-24 12:47:48,585 - mmdet - INFO - Epoch [15][3460/3517]	lr: 1.856e-05, eta: 7:04:19, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1800, debug_std_frame_0: 0.2296, debug_std_frame_1: 0.2565, debug_std_frame_2: 0.3045, debug_std_frame_3: 0.3588, debug_std_frame_4: 0.4132, debug_std_frame_5: 0.4694, loss_rl: -0.2856, loss_critic: 1.1199, loss_rl_bc: 0.0083, il_score: 0.6915, rl_score: 0.7132, prev_frame_loss_waypoint_0: 0.1983, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.2611, grad_norm: 50.9027, il_score_sum: 64.8913, rl_score_sum: 66.6909, score_diff: -1.7996, il_win: 76.0000, rl_win: 277.6000
2025-09-24 12:48:04,509 - mmdet - INFO - Epoch [15][3480/3517]	lr: 1.856e-05, eta: 7:04:03, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1780, debug_std_frame_0: 0.2283, debug_std_frame_1: 0.2553, debug_std_frame_2: 0.3017, debug_std_frame_3: 0.3554, debug_std_frame_4: 0.4054, debug_std_frame_5: 0.4613, loss_rl: -0.2187, loss_critic: 1.5189, loss_rl_bc: 0.0094, il_score: 0.6008, rl_score: 0.6346, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.7092, grad_norm: 66.3747, il_score_sum: 64.9632, rl_score_sum: 66.7066, score_diff: -1.7434, il_win: 76.0000, rl_win: 278.4000
2025-09-24 12:48:20,381 - mmdet - INFO - Epoch [15][3500/3517]	lr: 1.856e-05, eta: 7:03:47, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1963, debug_std_frame_0: 0.2209, debug_std_frame_1: 0.2474, debug_std_frame_2: 0.2927, debug_std_frame_3: 0.3487, debug_std_frame_4: 0.4018, debug_std_frame_5: 0.4622, loss_rl: -0.2364, loss_critic: 1.2446, loss_rl_bc: 0.0124, il_score: 0.6337, rl_score: 0.6693, prev_frame_loss_waypoint_0: 0.1904, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.4407, grad_norm: 56.6370, il_score_sum: 64.9632, rl_score_sum: 66.7066, score_diff: -1.7434, il_win: 76.0000, rl_win: 278.4000
2025-09-24 12:48:33,316 - mmdet - INFO - Saving checkpoint at 15 epochs
2025-09-24 12:51:06,840 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 12:51:06,840 - mmdet - INFO - Epoch(val) [15][753]	plan_L2_1s: 0.3637, plan_L2_2s: 0.6773, plan_L2_3s: 1.0927, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0011, plan_obj_box_col_2s: 0.0014, plan_obj_box_col_3s: 0.0046, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.4678, plan_L2_2s_rl_actor: 0.8176, plan_L2_3s_rl_actor: 1.2485, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0000, plan_obj_box_col_1s_rl_actor: 0.0062, plan_obj_box_col_2s_rl_actor: 0.0079, plan_obj_box_col_3s_rl_actor: 0.0133, fut_valid_flag_rl_actor: 1.0000
2025-09-24 12:51:31,433 - mmdet - INFO - Epoch [16][20/3517]	lr: 1.547e-05, eta: 7:03:14, time: 1.228, data_time: 0.338, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1767, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2458, debug_std_frame_2: 0.2956, debug_std_frame_3: 0.3566, debug_std_frame_4: 0.4121, debug_std_frame_5: 0.4738, loss_rl: -0.2239, loss_critic: 1.2282, loss_rl_bc: 0.0073, il_score: 0.6582, rl_score: 0.6778, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4083, grad_norm: 48.8688
2025-09-24 12:51:48,246 - mmdet - INFO - Epoch [16][40/3517]	lr: 1.547e-05, eta: 7:02:59, time: 0.841, data_time: 0.012, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1769, debug_std_frame_0: 0.2215, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2919, debug_std_frame_3: 0.3456, debug_std_frame_4: 0.3989, debug_std_frame_5: 0.4581, loss_rl: -0.2290, loss_critic: 1.4261, loss_rl_bc: 0.0095, il_score: 0.6436, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.6178, grad_norm: 40.5871
2025-09-24 12:52:05,407 - mmdet - INFO - Epoch [16][60/3517]	lr: 1.547e-05, eta: 7:02:43, time: 0.858, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1674, debug_std_frame_0: 0.2212, debug_std_frame_1: 0.2439, debug_std_frame_2: 0.2876, debug_std_frame_3: 0.3423, debug_std_frame_4: 0.3964, debug_std_frame_5: 0.4560, loss_rl: -0.2398, loss_critic: 1.0675, loss_rl_bc: 0.0066, il_score: 0.6906, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.1773, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.2165, grad_norm: 37.9034, il_score_sum: 63.3109, rl_score_sum: 65.4596, score_diff: -2.1487, il_win: 76.0000, rl_win: 287.0000
2025-09-24 12:52:21,693 - mmdet - INFO - Epoch [16][80/3517]	lr: 1.547e-05, eta: 7:02:27, time: 0.814, data_time: 0.014, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1723, debug_std_frame_0: 0.2215, debug_std_frame_1: 0.2438, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3379, debug_std_frame_4: 0.3869, debug_std_frame_5: 0.4434, loss_rl: -0.2803, loss_critic: 1.3463, loss_rl_bc: 0.0064, il_score: 0.7080, rl_score: 0.7119, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.4641, grad_norm: 50.7335, il_score_sum: 63.3109, rl_score_sum: 65.4596, score_diff: -2.1487, il_win: 76.0000, rl_win: 287.0000
2025-09-24 12:52:38,084 - mmdet - INFO - Epoch [16][100/3517]	lr: 1.547e-05, eta: 7:02:12, time: 0.819, data_time: 0.014, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1579, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2419, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3311, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4334, loss_rl: -0.2889, loss_critic: 1.6042, loss_rl_bc: 0.0091, il_score: 0.6542, rl_score: 0.6760, prev_frame_loss_waypoint_0: 0.1705, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.6925, grad_norm: 49.1175, il_score_sum: 63.3109, rl_score_sum: 65.4596, score_diff: -2.1487, il_win: 76.0000, rl_win: 287.0000
2025-09-24 12:52:54,312 - mmdet - INFO - Epoch [16][120/3517]	lr: 1.547e-05, eta: 7:01:56, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1791, debug_std_frame_0: 0.2242, debug_std_frame_1: 0.2542, debug_std_frame_2: 0.3043, debug_std_frame_3: 0.3606, debug_std_frame_4: 0.4142, debug_std_frame_5: 0.4712, loss_rl: -0.2357, loss_critic: 1.1278, loss_rl_bc: 0.0102, il_score: 0.6516, rl_score: 0.6634, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.3041, grad_norm: 53.7093, il_score_sum: 63.3109, rl_score_sum: 65.4596, score_diff: -2.1487, il_win: 76.0000, rl_win: 287.0000
2025-09-24 12:53:10,872 - mmdet - INFO - Epoch [16][140/3517]	lr: 1.547e-05, eta: 7:01:40, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1827, debug_std_frame_0: 0.2216, debug_std_frame_1: 0.2512, debug_std_frame_2: 0.3011, debug_std_frame_3: 0.3629, debug_std_frame_4: 0.4207, debug_std_frame_5: 0.4808, loss_rl: -0.3082, loss_critic: 1.3899, loss_rl_bc: 0.0126, il_score: 0.6873, rl_score: 0.7001, prev_frame_loss_waypoint_0: 0.2044, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.5242, grad_norm: 46.3551, il_score_sum: 63.3109, rl_score_sum: 65.4596, score_diff: -2.1487, il_win: 76.0000, rl_win: 287.0000
2025-09-24 12:53:27,484 - mmdet - INFO - Epoch [16][160/3517]	lr: 1.547e-05, eta: 7:01:24, time: 0.830, data_time: 0.011, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1912, debug_std_frame_0: 0.2304, debug_std_frame_1: 0.2601, debug_std_frame_2: 0.3104, debug_std_frame_3: 0.3728, debug_std_frame_4: 0.4303, debug_std_frame_5: 0.4947, loss_rl: -0.2264, loss_critic: 1.3547, loss_rl_bc: 0.0141, il_score: 0.6509, rl_score: 0.6472, prev_frame_loss_waypoint_0: 0.1992, prev_frame_loss_rl_bc_0: 0.0163, loss: 1.5780, grad_norm: 50.9894, il_score_sum: 65.4673, rl_score_sum: 67.1503, score_diff: -1.6830, il_win: 76.0000, rl_win: 287.5000
2025-09-24 12:53:43,887 - mmdet - INFO - Epoch [16][180/3517]	lr: 1.547e-05, eta: 7:01:08, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1841, debug_std_frame_0: 0.2291, debug_std_frame_1: 0.2601, debug_std_frame_2: 0.3112, debug_std_frame_3: 0.3697, debug_std_frame_4: 0.4260, debug_std_frame_5: 0.4863, loss_rl: -0.2475, loss_critic: 1.4682, loss_rl_bc: 0.0116, il_score: 0.6089, rl_score: 0.6385, prev_frame_loss_waypoint_0: 0.1922, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.6518, grad_norm: 54.6193, il_score_sum: 65.4673, rl_score_sum: 67.1503, score_diff: -1.6830, il_win: 76.0000, rl_win: 287.5000
2025-09-24 12:54:00,085 - mmdet - INFO - Epoch [16][200/3517]	lr: 1.547e-05, eta: 7:00:52, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1837, debug_std_frame_0: 0.2208, debug_std_frame_1: 0.2489, debug_std_frame_2: 0.2953, debug_std_frame_3: 0.3494, debug_std_frame_4: 0.4036, debug_std_frame_5: 0.4593, loss_rl: -0.2046, loss_critic: 1.4299, loss_rl_bc: 0.0121, il_score: 0.6162, rl_score: 0.6399, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.6364, grad_norm: 58.4523, il_score_sum: 65.4673, rl_score_sum: 67.1503, score_diff: -1.6830, il_win: 76.0000, rl_win: 287.5000
2025-09-24 12:54:16,405 - mmdet - INFO - Epoch [16][220/3517]	lr: 1.547e-05, eta: 7:00:36, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1679, debug_std_frame_0: 0.2199, debug_std_frame_1: 0.2482, debug_std_frame_2: 0.2965, debug_std_frame_3: 0.3524, debug_std_frame_4: 0.4060, debug_std_frame_5: 0.4623, loss_rl: -0.2008, loss_critic: 1.4629, loss_rl_bc: 0.0129, il_score: 0.6541, rl_score: 0.6318, prev_frame_loss_waypoint_0: 0.1776, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.6599, grad_norm: 50.4990, il_score_sum: 65.4673, rl_score_sum: 67.1503, score_diff: -1.6830, il_win: 76.0000, rl_win: 287.5000
2025-09-24 12:54:32,720 - mmdet - INFO - Epoch [16][240/3517]	lr: 1.547e-05, eta: 7:00:20, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1946, debug_std_frame_0: 0.2252, debug_std_frame_1: 0.2594, debug_std_frame_2: 0.3116, debug_std_frame_3: 0.3698, debug_std_frame_4: 0.4290, debug_std_frame_5: 0.4907, loss_rl: -0.2448, loss_critic: 1.1352, loss_rl_bc: 0.0144, il_score: 0.6537, rl_score: 0.6581, prev_frame_loss_waypoint_0: 0.1959, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.3379, grad_norm: 60.3688, il_score_sum: 65.4673, rl_score_sum: 67.1503, score_diff: -1.6830, il_win: 76.0000, rl_win: 287.5000
2025-09-24 12:54:49,273 - mmdet - INFO - Epoch [16][260/3517]	lr: 1.547e-05, eta: 7:00:05, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1505, debug_std_frame_0: 0.2328, debug_std_frame_1: 0.2604, debug_std_frame_2: 0.3033, debug_std_frame_3: 0.3535, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4587, loss_rl: -0.2924, loss_critic: 1.1670, loss_rl_bc: 0.0055, il_score: 0.7166, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1880, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.2575, grad_norm: 41.9710, il_score_sum: 65.0854, rl_score_sum: 66.4015, score_diff: -1.3161, il_win: 76.0000, rl_win: 287.6667
2025-09-24 12:55:05,639 - mmdet - INFO - Epoch [16][280/3517]	lr: 1.547e-05, eta: 6:59:49, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1884, debug_std_frame_0: 0.2260, debug_std_frame_1: 0.2542, debug_std_frame_2: 0.3022, debug_std_frame_3: 0.3582, debug_std_frame_4: 0.4145, debug_std_frame_5: 0.4753, loss_rl: -0.2375, loss_critic: 1.5468, loss_rl_bc: 0.0094, il_score: 0.6534, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.7253, grad_norm: 47.7343, il_score_sum: 65.0854, rl_score_sum: 66.4015, score_diff: -1.3161, il_win: 76.0000, rl_win: 287.6667
2025-09-24 12:55:21,945 - mmdet - INFO - Epoch [16][300/3517]	lr: 1.547e-05, eta: 6:59:33, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1840, debug_std_frame_0: 0.2196, debug_std_frame_1: 0.2467, debug_std_frame_2: 0.2997, debug_std_frame_3: 0.3571, debug_std_frame_4: 0.4181, debug_std_frame_5: 0.4771, loss_rl: -0.1835, loss_critic: 1.2250, loss_rl_bc: 0.0119, il_score: 0.6094, rl_score: 0.6324, prev_frame_loss_waypoint_0: 0.1956, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4723, grad_norm: 55.6771, il_score_sum: 65.0854, rl_score_sum: 66.4015, score_diff: -1.3161, il_win: 76.0000, rl_win: 287.6667
2025-09-24 12:55:38,219 - mmdet - INFO - Epoch [16][320/3517]	lr: 1.547e-05, eta: 6:59:17, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1560, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2410, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3418, debug_std_frame_4: 0.3970, debug_std_frame_5: 0.4548, loss_rl: -0.2507, loss_critic: 1.3029, loss_rl_bc: 0.0049, il_score: 0.6560, rl_score: 0.6723, prev_frame_loss_waypoint_0: 0.1749, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.4255, grad_norm: 39.3135, il_score_sum: 65.0854, rl_score_sum: 66.4015, score_diff: -1.3161, il_win: 76.0000, rl_win: 287.6667
2025-09-24 12:55:54,485 - mmdet - INFO - Epoch [16][340/3517]	lr: 1.547e-05, eta: 6:59:01, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1621, debug_std_frame_0: 0.2183, debug_std_frame_1: 0.2396, debug_std_frame_2: 0.2821, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3851, debug_std_frame_5: 0.4424, loss_rl: -0.2940, loss_critic: 1.2818, loss_rl_bc: 0.0069, il_score: 0.6737, rl_score: 0.6915, prev_frame_loss_waypoint_0: 0.1829, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.3734, grad_norm: 41.5980, il_score_sum: 65.0854, rl_score_sum: 66.4015, score_diff: -1.3161, il_win: 76.0000, rl_win: 287.6667
2025-09-24 12:56:10,878 - mmdet - INFO - Epoch [16][360/3517]	lr: 1.547e-05, eta: 6:58:45, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1678, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2340, debug_std_frame_2: 0.2771, debug_std_frame_3: 0.3262, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4326, loss_rl: -0.2383, loss_critic: 1.2091, loss_rl_bc: 0.0060, il_score: 0.6668, rl_score: 0.6566, prev_frame_loss_waypoint_0: 0.2008, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.3848, grad_norm: 43.8004, il_score_sum: 65.2799, rl_score_sum: 66.4661, score_diff: -1.1862, il_win: 76.0000, rl_win: 287.7500
2025-09-24 12:56:27,204 - mmdet - INFO - Epoch [16][380/3517]	lr: 1.547e-05, eta: 6:58:29, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1725, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2386, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3963, debug_std_frame_5: 0.4546, loss_rl: -0.2279, loss_critic: 1.2629, loss_rl_bc: 0.0074, il_score: 0.6530, rl_score: 0.6832, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.4450, grad_norm: 50.5412, il_score_sum: 65.2799, rl_score_sum: 66.4661, score_diff: -1.1862, il_win: 76.0000, rl_win: 287.7500
2025-09-24 12:56:43,521 - mmdet - INFO - Epoch [16][400/3517]	lr: 1.547e-05, eta: 6:58:13, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1920, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2422, debug_std_frame_2: 0.2903, debug_std_frame_3: 0.3448, debug_std_frame_4: 0.3964, debug_std_frame_5: 0.4543, loss_rl: -0.2098, loss_critic: 1.0977, loss_rl_bc: 0.0142, il_score: 0.6608, rl_score: 0.6676, prev_frame_loss_waypoint_0: 0.2112, prev_frame_loss_rl_bc_0: 0.0187, loss: 1.3521, grad_norm: 60.7483, il_score_sum: 65.2799, rl_score_sum: 66.4661, score_diff: -1.1862, il_win: 76.0000, rl_win: 287.7500
2025-09-24 12:56:59,764 - mmdet - INFO - Epoch [16][420/3517]	lr: 1.547e-05, eta: 6:57:57, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1807, debug_std_frame_0: 0.2174, debug_std_frame_1: 0.2484, debug_std_frame_2: 0.2981, debug_std_frame_3: 0.3553, debug_std_frame_4: 0.4125, debug_std_frame_5: 0.4704, loss_rl: -0.2295, loss_critic: 0.9211, loss_rl_bc: 0.0073, il_score: 0.6760, rl_score: 0.6801, prev_frame_loss_waypoint_0: 0.1893, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.1063, grad_norm: 37.5921, il_score_sum: 65.2799, rl_score_sum: 66.4661, score_diff: -1.1862, il_win: 76.0000, rl_win: 287.7500
2025-09-24 12:57:15,899 - mmdet - INFO - Epoch [16][440/3517]	lr: 1.547e-05, eta: 6:57:41, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1897, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2440, debug_std_frame_2: 0.2940, debug_std_frame_3: 0.3521, debug_std_frame_4: 0.4117, debug_std_frame_5: 0.4714, loss_rl: -0.2560, loss_critic: 1.0804, loss_rl_bc: 0.0102, il_score: 0.6589, rl_score: 0.6874, prev_frame_loss_waypoint_0: 0.2079, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.2737, grad_norm: 49.9453, il_score_sum: 65.2799, rl_score_sum: 66.4661, score_diff: -1.1862, il_win: 76.0000, rl_win: 287.7500
2025-09-24 12:57:32,186 - mmdet - INFO - Epoch [16][460/3517]	lr: 1.547e-05, eta: 6:57:26, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1662, debug_std_frame_0: 0.2205, debug_std_frame_1: 0.2431, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3368, debug_std_frame_4: 0.3872, debug_std_frame_5: 0.4437, loss_rl: -0.2604, loss_critic: 1.4674, loss_rl_bc: 0.0095, il_score: 0.6799, rl_score: 0.6880, prev_frame_loss_waypoint_0: 0.1736, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.5933, grad_norm: 56.2811, il_score_sum: 65.5072, rl_score_sum: 66.7136, score_diff: -1.2064, il_win: 76.0000, rl_win: 288.0000
2025-09-24 12:57:48,692 - mmdet - INFO - Epoch [16][480/3517]	lr: 1.547e-05, eta: 6:57:10, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1963, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2436, debug_std_frame_2: 0.2912, debug_std_frame_3: 0.3473, debug_std_frame_4: 0.4032, debug_std_frame_5: 0.4640, loss_rl: -0.2650, loss_critic: 1.1275, loss_rl_bc: 0.0138, il_score: 0.6860, rl_score: 0.6959, prev_frame_loss_waypoint_0: 0.1899, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.2996, grad_norm: 53.3487, il_score_sum: 65.5072, rl_score_sum: 66.7136, score_diff: -1.2064, il_win: 76.0000, rl_win: 288.0000
2025-09-24 12:58:05,250 - mmdet - INFO - Epoch [16][500/3517]	lr: 1.547e-05, eta: 6:56:54, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1746, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2393, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3915, debug_std_frame_5: 0.4455, loss_rl: -0.2579, loss_critic: 1.9214, loss_rl_bc: 0.0098, il_score: 0.6320, rl_score: 0.6421, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0115, loss: 2.0923, grad_norm: 43.5651, il_score_sum: 65.5072, rl_score_sum: 66.7136, score_diff: -1.2064, il_win: 76.0000, rl_win: 288.0000
2025-09-24 12:58:21,595 - mmdet - INFO - Epoch [16][520/3517]	lr: 1.547e-05, eta: 6:56:38, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1743, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2455, debug_std_frame_2: 0.2919, debug_std_frame_3: 0.3432, debug_std_frame_4: 0.3978, debug_std_frame_5: 0.4519, loss_rl: -0.2027, loss_critic: 1.2858, loss_rl_bc: 0.0074, il_score: 0.6064, rl_score: 0.6235, prev_frame_loss_waypoint_0: 0.1956, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.4988, grad_norm: 53.1810, il_score_sum: 65.5072, rl_score_sum: 66.7136, score_diff: -1.2064, il_win: 76.0000, rl_win: 288.0000
2025-09-24 12:58:38,112 - mmdet - INFO - Epoch [16][540/3517]	lr: 1.547e-05, eta: 6:56:22, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1745, debug_std_frame_0: 0.2171, debug_std_frame_1: 0.2422, debug_std_frame_2: 0.2864, debug_std_frame_3: 0.3366, debug_std_frame_4: 0.3880, debug_std_frame_5: 0.4436, loss_rl: -0.2320, loss_critic: 1.5675, loss_rl_bc: 0.0097, il_score: 0.6287, rl_score: 0.6453, prev_frame_loss_waypoint_0: 0.2111, prev_frame_loss_rl_bc_0: 0.0171, loss: 1.7759, grad_norm: 75.1334, il_score_sum: 65.5072, rl_score_sum: 66.7136, score_diff: -1.2064, il_win: 76.0000, rl_win: 288.0000
2025-09-24 12:58:54,550 - mmdet - INFO - Epoch [16][560/3517]	lr: 1.547e-05, eta: 6:56:06, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1844, debug_std_frame_0: 0.2187, debug_std_frame_1: 0.2475, debug_std_frame_2: 0.2955, debug_std_frame_3: 0.3516, debug_std_frame_4: 0.4054, debug_std_frame_5: 0.4598, loss_rl: -0.2290, loss_critic: 1.1437, loss_rl_bc: 0.0121, il_score: 0.6563, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1903, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.3401, grad_norm: 48.5860, il_score_sum: 65.3116, rl_score_sum: 66.5379, score_diff: -1.2263, il_win: 76.0000, rl_win: 288.3333
2025-09-24 12:59:10,832 - mmdet - INFO - Epoch [16][580/3517]	lr: 1.547e-05, eta: 6:55:51, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1791, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2422, debug_std_frame_2: 0.2927, debug_std_frame_3: 0.3485, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4627, loss_rl: -0.2585, loss_critic: 1.1140, loss_rl_bc: 0.0123, il_score: 0.6958, rl_score: 0.6981, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.2779, grad_norm: 53.9901, il_score_sum: 65.3116, rl_score_sum: 66.5379, score_diff: -1.2263, il_win: 76.0000, rl_win: 288.3333
2025-09-24 12:59:27,174 - mmdet - INFO - Epoch [16][600/3517]	lr: 1.547e-05, eta: 6:55:35, time: 0.817, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1831, debug_std_frame_0: 0.2132, debug_std_frame_1: 0.2426, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3478, debug_std_frame_4: 0.4032, debug_std_frame_5: 0.4615, loss_rl: -0.2209, loss_critic: 1.6063, loss_rl_bc: 0.0190, il_score: 0.6159, rl_score: 0.6119, prev_frame_loss_waypoint_0: 0.2064, prev_frame_loss_rl_bc_0: 0.0210, loss: 1.8429, grad_norm: 59.3937, il_score_sum: 65.3116, rl_score_sum: 66.5379, score_diff: -1.2263, il_win: 76.0000, rl_win: 288.3333
2025-09-24 12:59:43,864 - mmdet - INFO - Epoch [16][620/3517]	lr: 1.547e-05, eta: 6:55:19, time: 0.834, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1609, debug_std_frame_0: 0.2315, debug_std_frame_1: 0.2685, debug_std_frame_2: 0.3187, debug_std_frame_3: 0.3742, debug_std_frame_4: 0.4314, debug_std_frame_5: 0.4903, loss_rl: -0.2468, loss_critic: 1.2135, loss_rl_bc: 0.0093, il_score: 0.6447, rl_score: 0.6494, prev_frame_loss_waypoint_0: 0.1999, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.3788, grad_norm: 58.9307, il_score_sum: 65.3116, rl_score_sum: 66.5379, score_diff: -1.2263, il_win: 76.0000, rl_win: 288.3333
2025-09-24 12:59:59,971 - mmdet - INFO - Epoch [16][640/3517]	lr: 1.547e-05, eta: 6:55:03, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1657, debug_std_frame_0: 0.2290, debug_std_frame_1: 0.2610, debug_std_frame_2: 0.3085, debug_std_frame_3: 0.3606, debug_std_frame_4: 0.4130, debug_std_frame_5: 0.4683, loss_rl: -0.2286, loss_critic: 1.1289, loss_rl_bc: 0.0120, il_score: 0.6525, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.2994, grad_norm: 54.0139, il_score_sum: 65.3116, rl_score_sum: 66.5379, score_diff: -1.2263, il_win: 76.0000, rl_win: 288.3333
2025-09-24 13:00:16,697 - mmdet - INFO - Epoch [16][660/3517]	lr: 1.547e-05, eta: 6:54:47, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1829, debug_std_frame_0: 0.2255, debug_std_frame_1: 0.2577, debug_std_frame_2: 0.3080, debug_std_frame_3: 0.3614, debug_std_frame_4: 0.4164, debug_std_frame_5: 0.4709, loss_rl: -0.2550, loss_critic: 1.3915, loss_rl_bc: 0.0113, il_score: 0.6217, rl_score: 0.6476, prev_frame_loss_waypoint_0: 0.2122, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.5888, grad_norm: 59.2082, il_score_sum: 65.3104, rl_score_sum: 66.4224, score_diff: -1.1120, il_win: 76.0000, rl_win: 288.5714
2025-09-24 13:00:33,136 - mmdet - INFO - Epoch [16][680/3517]	lr: 1.547e-05, eta: 6:54:31, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.2283, debug_std_frame_0: 0.2257, debug_std_frame_1: 0.2550, debug_std_frame_2: 0.3040, debug_std_frame_3: 0.3581, debug_std_frame_4: 0.4154, debug_std_frame_5: 0.4738, loss_rl: -0.2044, loss_critic: 1.1759, loss_rl_bc: 0.0555, il_score: 0.6402, rl_score: 0.6696, prev_frame_loss_waypoint_0: 0.2357, prev_frame_loss_rl_bc_0: 0.0502, loss: 1.5685, grad_norm: 68.9443, il_score_sum: 65.3104, rl_score_sum: 66.4224, score_diff: -1.1120, il_win: 76.0000, rl_win: 288.5714
2025-09-24 13:00:49,926 - mmdet - INFO - Epoch [16][700/3517]	lr: 1.547e-05, eta: 6:54:16, time: 0.839, data_time: 0.014, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1559, debug_std_frame_0: 0.2237, debug_std_frame_1: 0.2533, debug_std_frame_2: 0.3037, debug_std_frame_3: 0.3635, debug_std_frame_4: 0.4219, debug_std_frame_5: 0.4792, loss_rl: -0.2056, loss_critic: 1.0289, loss_rl_bc: 0.0084, il_score: 0.6816, rl_score: 0.6783, prev_frame_loss_waypoint_0: 0.1903, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.2200, grad_norm: 45.7308, il_score_sum: 65.3104, rl_score_sum: 66.4224, score_diff: -1.1120, il_win: 76.0000, rl_win: 288.5714
2025-09-24 13:01:06,232 - mmdet - INFO - Epoch [16][720/3517]	lr: 1.547e-05, eta: 6:54:00, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1778, debug_std_frame_0: 0.2190, debug_std_frame_1: 0.2452, debug_std_frame_2: 0.2926, debug_std_frame_3: 0.3487, debug_std_frame_4: 0.4073, debug_std_frame_5: 0.4664, loss_rl: -0.2330, loss_critic: 1.4596, loss_rl_bc: 0.0115, il_score: 0.6324, rl_score: 0.6426, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.6390, grad_norm: 35.1868, il_score_sum: 65.3104, rl_score_sum: 66.4224, score_diff: -1.1120, il_win: 76.0000, rl_win: 288.5714
2025-09-24 13:01:22,542 - mmdet - INFO - Epoch [16][740/3517]	lr: 1.547e-05, eta: 6:53:44, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0304, loss_waypoint: 0.1890, debug_std_frame_0: 0.2219, debug_std_frame_1: 0.2474, debug_std_frame_2: 0.2917, debug_std_frame_3: 0.3435, debug_std_frame_4: 0.3986, debug_std_frame_5: 0.4593, loss_rl: -0.2751, loss_critic: 1.4747, loss_rl_bc: 0.0091, il_score: 0.6311, rl_score: 0.6854, prev_frame_loss_waypoint_0: 0.2130, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.6549, grad_norm: 69.1959, il_score_sum: 65.3104, rl_score_sum: 66.4224, score_diff: -1.1120, il_win: 76.0000, rl_win: 288.5714
2025-09-24 13:01:38,941 - mmdet - INFO - Epoch [16][760/3517]	lr: 1.547e-05, eta: 6:53:28, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1880, debug_std_frame_0: 0.2226, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.2925, debug_std_frame_3: 0.3435, debug_std_frame_4: 0.4006, debug_std_frame_5: 0.4597, loss_rl: -0.2484, loss_critic: 1.3056, loss_rl_bc: 0.0079, il_score: 0.6304, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.2059, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.4948, grad_norm: 64.5823, il_score_sum: 65.1609, rl_score_sum: 66.4428, score_diff: -1.2819, il_win: 76.0000, rl_win: 288.8750
2025-09-24 13:01:55,476 - mmdet - INFO - Epoch [16][780/3517]	lr: 1.547e-05, eta: 6:53:12, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1778, debug_std_frame_0: 0.2194, debug_std_frame_1: 0.2463, debug_std_frame_2: 0.2933, debug_std_frame_3: 0.3439, debug_std_frame_4: 0.4006, debug_std_frame_5: 0.4574, loss_rl: -0.2531, loss_critic: 1.2935, loss_rl_bc: 0.0092, il_score: 0.6564, rl_score: 0.6747, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.4485, grad_norm: 53.8177, il_score_sum: 65.1609, rl_score_sum: 66.4428, score_diff: -1.2819, il_win: 76.0000, rl_win: 288.8750
2025-09-24 13:02:11,652 - mmdet - INFO - Epoch [16][800/3517]	lr: 1.547e-05, eta: 6:52:56, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1963, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2407, debug_std_frame_2: 0.2899, debug_std_frame_3: 0.3436, debug_std_frame_4: 0.4020, debug_std_frame_5: 0.4665, loss_rl: -0.2309, loss_critic: 1.2931, loss_rl_bc: 0.0163, il_score: 0.6504, rl_score: 0.6500, prev_frame_loss_waypoint_0: 0.2047, prev_frame_loss_rl_bc_0: 0.0178, loss: 1.5267, grad_norm: 69.3443, il_score_sum: 65.1609, rl_score_sum: 66.4428, score_diff: -1.2819, il_win: 76.0000, rl_win: 288.8750
2025-09-24 13:02:27,956 - mmdet - INFO - Epoch [16][820/3517]	lr: 1.547e-05, eta: 6:52:40, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1757, debug_std_frame_0: 0.2297, debug_std_frame_1: 0.2573, debug_std_frame_2: 0.3028, debug_std_frame_3: 0.3550, debug_std_frame_4: 0.4097, debug_std_frame_5: 0.4716, loss_rl: -0.1919, loss_critic: 1.4419, loss_rl_bc: 0.0143, il_score: 0.5981, rl_score: 0.6166, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6720, grad_norm: 62.5195, il_score_sum: 65.1609, rl_score_sum: 66.4428, score_diff: -1.2819, il_win: 76.0000, rl_win: 288.8750
2025-09-24 13:02:43,975 - mmdet - INFO - Epoch [16][840/3517]	lr: 1.547e-05, eta: 6:52:24, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1728, debug_std_frame_0: 0.2273, debug_std_frame_1: 0.2564, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3494, debug_std_frame_4: 0.4017, debug_std_frame_5: 0.4589, loss_rl: -0.2731, loss_critic: 1.3090, loss_rl_bc: 0.0071, il_score: 0.6755, rl_score: 0.6912, prev_frame_loss_waypoint_0: 0.1809, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4305, grad_norm: 47.7809, il_score_sum: 65.1609, rl_score_sum: 66.4428, score_diff: -1.2819, il_win: 76.0000, rl_win: 288.8750
2025-09-24 13:03:00,782 - mmdet - INFO - Epoch [16][860/3517]	lr: 1.547e-05, eta: 6:52:09, time: 0.840, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1589, debug_std_frame_0: 0.2232, debug_std_frame_1: 0.2473, debug_std_frame_2: 0.2891, debug_std_frame_3: 0.3362, debug_std_frame_4: 0.3855, debug_std_frame_5: 0.4396, loss_rl: -0.2623, loss_critic: 1.9130, loss_rl_bc: 0.0085, il_score: 0.6216, rl_score: 0.6234, prev_frame_loss_waypoint_0: 0.1714, prev_frame_loss_rl_bc_0: 0.0081, loss: 2.0261, grad_norm: 57.4474, il_score_sum: 65.0274, rl_score_sum: 66.3512, score_diff: -1.3238, il_win: 76.0000, rl_win: 289.2222
2025-09-24 13:03:17,161 - mmdet - INFO - Epoch [16][880/3517]	lr: 1.547e-05, eta: 6:51:53, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1968, debug_std_frame_0: 0.2254, debug_std_frame_1: 0.2546, debug_std_frame_2: 0.3043, debug_std_frame_3: 0.3583, debug_std_frame_4: 0.4150, debug_std_frame_5: 0.4736, loss_rl: -0.2198, loss_critic: 1.4749, loss_rl_bc: 0.0162, il_score: 0.6487, rl_score: 0.6522, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.7060, grad_norm: 58.5620, il_score_sum: 65.0274, rl_score_sum: 66.3512, score_diff: -1.3238, il_win: 76.0000, rl_win: 289.2222
2025-09-24 13:03:33,607 - mmdet - INFO - Epoch [16][900/3517]	lr: 1.547e-05, eta: 6:51:37, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1897, debug_std_frame_0: 0.2291, debug_std_frame_1: 0.2622, debug_std_frame_2: 0.3179, debug_std_frame_3: 0.3752, debug_std_frame_4: 0.4360, debug_std_frame_5: 0.5010, loss_rl: -0.2574, loss_critic: 1.2131, loss_rl_bc: 0.0118, il_score: 0.6701, rl_score: 0.6767, prev_frame_loss_waypoint_0: 0.2061, prev_frame_loss_rl_bc_0: 0.0151, loss: 1.4071, grad_norm: 44.2954, il_score_sum: 65.0274, rl_score_sum: 66.3512, score_diff: -1.3238, il_win: 76.0000, rl_win: 289.2222
2025-09-24 13:03:50,004 - mmdet - INFO - Epoch [16][920/3517]	lr: 1.547e-05, eta: 6:51:21, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0303, loss_waypoint: 0.1811, debug_std_frame_0: 0.2243, debug_std_frame_1: 0.2544, debug_std_frame_2: 0.3028, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4032, debug_std_frame_5: 0.4593, loss_rl: -0.2993, loss_critic: 1.2774, loss_rl_bc: 0.0073, il_score: 0.6298, rl_score: 0.6827, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.3959, grad_norm: 49.5151, il_score_sum: 65.0274, rl_score_sum: 66.3512, score_diff: -1.3238, il_win: 76.0000, rl_win: 289.2222
2025-09-24 13:04:06,432 - mmdet - INFO - Epoch [16][940/3517]	lr: 1.547e-05, eta: 6:51:05, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1760, debug_std_frame_0: 0.2266, debug_std_frame_1: 0.2614, debug_std_frame_2: 0.3188, debug_std_frame_3: 0.3766, debug_std_frame_4: 0.4398, debug_std_frame_5: 0.5038, loss_rl: -0.2501, loss_critic: 1.3003, loss_rl_bc: 0.0092, il_score: 0.6367, rl_score: 0.6714, prev_frame_loss_waypoint_0: 0.2176, prev_frame_loss_rl_bc_0: 0.0159, loss: 1.4978, grad_norm: 46.8876, il_score_sum: 65.0274, rl_score_sum: 66.3512, score_diff: -1.3238, il_win: 76.0000, rl_win: 289.2222
2025-09-24 13:04:22,702 - mmdet - INFO - Epoch [16][960/3517]	lr: 1.547e-05, eta: 6:50:49, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1821, debug_std_frame_0: 0.2238, debug_std_frame_1: 0.2503, debug_std_frame_2: 0.2965, debug_std_frame_3: 0.3455, debug_std_frame_4: 0.3988, debug_std_frame_5: 0.4567, loss_rl: -0.2469, loss_critic: 1.6671, loss_rl_bc: 0.0112, il_score: 0.6346, rl_score: 0.6448, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.8231, grad_norm: 42.7908, il_score_sum: 64.9668, rl_score_sum: 66.3780, score_diff: -1.4111, il_win: 76.0000, rl_win: 289.6000
2025-09-24 13:04:39,011 - mmdet - INFO - Epoch [16][980/3517]	lr: 1.547e-05, eta: 6:50:33, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1776, debug_std_frame_0: 0.2207, debug_std_frame_1: 0.2460, debug_std_frame_2: 0.2944, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.4026, debug_std_frame_5: 0.4621, loss_rl: -0.2727, loss_critic: 1.2267, loss_rl_bc: 0.0055, il_score: 0.6529, rl_score: 0.6704, prev_frame_loss_waypoint_0: 0.1815, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.3512, grad_norm: 54.8072, il_score_sum: 64.9668, rl_score_sum: 66.3780, score_diff: -1.4111, il_win: 76.0000, rl_win: 289.6000
2025-09-24 13:04:55,166 - mmdet - INFO - Epoch [16][1000/3517]	lr: 1.547e-05, eta: 6:50:17, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1738, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2374, debug_std_frame_2: 0.2840, debug_std_frame_3: 0.3350, debug_std_frame_4: 0.3904, debug_std_frame_5: 0.4510, loss_rl: -0.2596, loss_critic: 1.3759, loss_rl_bc: 0.0075, il_score: 0.6717, rl_score: 0.6718, prev_frame_loss_waypoint_0: 0.1822, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.5175, grad_norm: 45.1178, il_score_sum: 64.9668, rl_score_sum: 66.3780, score_diff: -1.4111, il_win: 76.0000, rl_win: 289.6000
2025-09-24 13:05:11,740 - mmdet - INFO - Epoch [16][1020/3517]	lr: 1.547e-05, eta: 6:50:02, time: 0.829, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1769, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2887, debug_std_frame_3: 0.3414, debug_std_frame_4: 0.3990, debug_std_frame_5: 0.4555, loss_rl: -0.2489, loss_critic: 1.4221, loss_rl_bc: 0.0070, il_score: 0.6654, rl_score: 0.6731, prev_frame_loss_waypoint_0: 0.1965, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.5908, grad_norm: 46.7249, il_score_sum: 64.9668, rl_score_sum: 66.3780, score_diff: -1.4111, il_win: 76.0000, rl_win: 289.6000
2025-09-24 13:05:28,043 - mmdet - INFO - Epoch [16][1040/3517]	lr: 1.547e-05, eta: 6:49:46, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1917, debug_std_frame_0: 0.2167, debug_std_frame_1: 0.2395, debug_std_frame_2: 0.2859, debug_std_frame_3: 0.3381, debug_std_frame_4: 0.3940, debug_std_frame_5: 0.4550, loss_rl: -0.2063, loss_critic: 1.3584, loss_rl_bc: 0.0101, il_score: 0.6667, rl_score: 0.6679, prev_frame_loss_waypoint_0: 0.2017, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.5970, grad_norm: 45.1903, il_score_sum: 64.9668, rl_score_sum: 66.3780, score_diff: -1.4111, il_win: 76.0000, rl_win: 289.6000
2025-09-24 13:05:44,347 - mmdet - INFO - Epoch [16][1060/3517]	lr: 1.547e-05, eta: 6:49:30, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1661, debug_std_frame_0: 0.2188, debug_std_frame_1: 0.2386, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3809, debug_std_frame_5: 0.4362, loss_rl: -0.2596, loss_critic: 1.4518, loss_rl_bc: 0.0055, il_score: 0.6873, rl_score: 0.6646, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.5859, grad_norm: 49.3636, il_score_sum: 65.0657, rl_score_sum: 66.3681, score_diff: -1.3024, il_win: 76.0000, rl_win: 289.9091
2025-09-24 13:06:00,663 - mmdet - INFO - Epoch [16][1080/3517]	lr: 1.547e-05, eta: 6:49:14, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1679, debug_std_frame_0: 0.2150, debug_std_frame_1: 0.2361, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3394, debug_std_frame_4: 0.3969, debug_std_frame_5: 0.4563, loss_rl: -0.2533, loss_critic: 1.2875, loss_rl_bc: 0.0081, il_score: 0.6385, rl_score: 0.6593, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.4163, grad_norm: 41.4503, il_score_sum: 65.0657, rl_score_sum: 66.3681, score_diff: -1.3024, il_win: 76.0000, rl_win: 289.9091
2025-09-24 13:06:17,327 - mmdet - INFO - Epoch [16][1100/3517]	lr: 1.547e-05, eta: 6:48:58, time: 0.833, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1639, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2327, debug_std_frame_2: 0.2773, debug_std_frame_3: 0.3220, debug_std_frame_4: 0.3729, debug_std_frame_5: 0.4271, loss_rl: -0.2912, loss_critic: 1.4449, loss_rl_bc: 0.0076, il_score: 0.6738, rl_score: 0.6909, prev_frame_loss_waypoint_0: 0.1698, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.5296, grad_norm: 46.4220, il_score_sum: 65.0657, rl_score_sum: 66.3681, score_diff: -1.3024, il_win: 76.0000, rl_win: 289.9091
2025-09-24 13:06:33,649 - mmdet - INFO - Epoch [16][1120/3517]	lr: 1.547e-05, eta: 6:48:42, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1760, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2337, debug_std_frame_2: 0.2878, debug_std_frame_3: 0.3409, debug_std_frame_4: 0.3949, debug_std_frame_5: 0.4550, loss_rl: -0.2476, loss_critic: 1.5215, loss_rl_bc: 0.0098, il_score: 0.6359, rl_score: 0.6451, prev_frame_loss_waypoint_0: 0.1880, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.6845, grad_norm: 51.9743, il_score_sum: 65.0657, rl_score_sum: 66.3681, score_diff: -1.3024, il_win: 76.0000, rl_win: 289.9091
2025-09-24 13:06:49,873 - mmdet - INFO - Epoch [16][1140/3517]	lr: 1.547e-05, eta: 6:48:26, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1683, debug_std_frame_0: 0.2152, debug_std_frame_1: 0.2374, debug_std_frame_2: 0.2877, debug_std_frame_3: 0.3362, debug_std_frame_4: 0.3904, debug_std_frame_5: 0.4494, loss_rl: -0.1988, loss_critic: 1.1921, loss_rl_bc: 0.0062, il_score: 0.6574, rl_score: 0.6641, prev_frame_loss_waypoint_0: 0.1884, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.3920, grad_norm: 38.8567, il_score_sum: 65.0657, rl_score_sum: 66.3681, score_diff: -1.3024, il_win: 76.0000, rl_win: 289.9091
2025-09-24 13:07:06,223 - mmdet - INFO - Epoch [16][1160/3517]	lr: 1.547e-05, eta: 6:48:10, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1720, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2339, debug_std_frame_2: 0.2833, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4389, loss_rl: -0.2452, loss_critic: 1.3167, loss_rl_bc: 0.0086, il_score: 0.6211, rl_score: 0.6710, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.4691, grad_norm: 44.6829, il_score_sum: 65.0728, rl_score_sum: 66.3996, score_diff: -1.3268, il_win: 76.0000, rl_win: 290.2500
2025-09-24 13:07:22,496 - mmdet - INFO - Epoch [16][1180/3517]	lr: 1.547e-05, eta: 6:47:54, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1828, debug_std_frame_0: 0.2141, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2920, debug_std_frame_3: 0.3496, debug_std_frame_4: 0.4087, debug_std_frame_5: 0.4724, loss_rl: -0.1892, loss_critic: 1.2627, loss_rl_bc: 0.0088, il_score: 0.6562, rl_score: 0.6463, prev_frame_loss_waypoint_0: 0.1896, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.4905, grad_norm: 30.4075, il_score_sum: 65.0728, rl_score_sum: 66.3996, score_diff: -1.3268, il_win: 76.0000, rl_win: 290.2500
2025-09-24 13:07:38,612 - mmdet - INFO - Epoch [16][1200/3517]	lr: 1.547e-05, eta: 6:47:38, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1745, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2330, debug_std_frame_2: 0.2845, debug_std_frame_3: 0.3357, debug_std_frame_4: 0.3927, debug_std_frame_5: 0.4529, loss_rl: -0.2391, loss_critic: 1.3993, loss_rl_bc: 0.0088, il_score: 0.6525, rl_score: 0.6753, prev_frame_loss_waypoint_0: 0.1837, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.5639, grad_norm: 46.9793, il_score_sum: 65.0728, rl_score_sum: 66.3996, score_diff: -1.3268, il_win: 76.0000, rl_win: 290.2500
2025-09-24 13:07:54,705 - mmdet - INFO - Epoch [16][1220/3517]	lr: 1.547e-05, eta: 6:47:22, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1710, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3916, debug_std_frame_5: 0.4489, loss_rl: -0.2496, loss_critic: 1.2104, loss_rl_bc: 0.0129, il_score: 0.6560, rl_score: 0.6672, prev_frame_loss_waypoint_0: 0.1844, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.3687, grad_norm: 44.7965, il_score_sum: 65.0728, rl_score_sum: 66.3996, score_diff: -1.3268, il_win: 76.0000, rl_win: 290.2500
2025-09-24 13:08:10,805 - mmdet - INFO - Epoch [16][1240/3517]	lr: 1.547e-05, eta: 6:47:06, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1926, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3376, debug_std_frame_4: 0.3939, debug_std_frame_5: 0.4563, loss_rl: -0.2534, loss_critic: 1.3082, loss_rl_bc: 0.0145, il_score: 0.6180, rl_score: 0.6563, prev_frame_loss_waypoint_0: 0.2006, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.5040, grad_norm: 53.0839, il_score_sum: 65.0728, rl_score_sum: 66.3996, score_diff: -1.3268, il_win: 76.0000, rl_win: 290.2500
2025-09-24 13:08:27,208 - mmdet - INFO - Epoch [16][1260/3517]	lr: 1.547e-05, eta: 6:46:50, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1643, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3430, debug_std_frame_4: 0.3986, debug_std_frame_5: 0.4626, loss_rl: -0.2775, loss_critic: 1.2054, loss_rl_bc: 0.0061, il_score: 0.6792, rl_score: 0.6846, prev_frame_loss_waypoint_0: 0.1742, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.3037, grad_norm: 40.8900, il_score_sum: 65.0548, rl_score_sum: 66.4200, score_diff: -1.3651, il_win: 76.0000, rl_win: 290.6154
2025-09-24 13:08:43,276 - mmdet - INFO - Epoch [16][1280/3517]	lr: 1.547e-05, eta: 6:46:34, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1847, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2434, debug_std_frame_2: 0.2978, debug_std_frame_3: 0.3521, debug_std_frame_4: 0.4084, debug_std_frame_5: 0.4682, loss_rl: -0.2546, loss_critic: 1.4858, loss_rl_bc: 0.0065, il_score: 0.6439, rl_score: 0.6741, prev_frame_loss_waypoint_0: 0.2067, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.6695, grad_norm: 50.2395, il_score_sum: 65.0548, rl_score_sum: 66.4200, score_diff: -1.3651, il_win: 76.0000, rl_win: 290.6154
2025-09-24 13:08:59,427 - mmdet - INFO - Epoch [16][1300/3517]	lr: 1.547e-05, eta: 6:46:18, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1940, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2888, debug_std_frame_3: 0.3423, debug_std_frame_4: 0.4015, debug_std_frame_5: 0.4666, loss_rl: -0.2108, loss_critic: 1.3367, loss_rl_bc: 0.0093, il_score: 0.6250, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.2065, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.5727, grad_norm: 60.7847, il_score_sum: 65.0548, rl_score_sum: 66.4200, score_diff: -1.3651, il_win: 76.0000, rl_win: 290.6154
2025-09-24 13:09:15,476 - mmdet - INFO - Epoch [16][1320/3517]	lr: 1.547e-05, eta: 6:46:02, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1845, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2359, debug_std_frame_2: 0.2894, debug_std_frame_3: 0.3458, debug_std_frame_4: 0.4031, debug_std_frame_5: 0.4636, loss_rl: -0.2272, loss_critic: 1.2551, loss_rl_bc: 0.0074, il_score: 0.6341, rl_score: 0.6689, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.4619, grad_norm: 66.7056, il_score_sum: 65.0548, rl_score_sum: 66.4200, score_diff: -1.3651, il_win: 76.0000, rl_win: 290.6154
2025-09-24 13:09:31,702 - mmdet - INFO - Epoch [16][1340/3517]	lr: 1.547e-05, eta: 6:45:46, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1882, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2854, debug_std_frame_3: 0.3383, debug_std_frame_4: 0.3931, debug_std_frame_5: 0.4516, loss_rl: -0.2736, loss_critic: 1.7159, loss_rl_bc: 0.0135, il_score: 0.6349, rl_score: 0.6450, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.8656, grad_norm: 42.4366, il_score_sum: 65.0548, rl_score_sum: 66.4200, score_diff: -1.3651, il_win: 76.0000, rl_win: 290.6154
2025-09-24 13:09:48,185 - mmdet - INFO - Epoch [16][1360/3517]	lr: 1.547e-05, eta: 6:45:30, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1545, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2900, debug_std_frame_3: 0.3468, debug_std_frame_4: 0.4046, debug_std_frame_5: 0.4613, loss_rl: -0.2665, loss_critic: 1.4108, loss_rl_bc: 0.0043, il_score: 0.6387, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.1673, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.5034, grad_norm: 40.8095, il_score_sum: 64.9979, rl_score_sum: 66.4419, score_diff: -1.4441, il_win: 76.0000, rl_win: 291.0000
2025-09-24 13:10:04,432 - mmdet - INFO - Epoch [16][1380/3517]	lr: 1.547e-05, eta: 6:45:14, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1833, debug_std_frame_0: 0.2137, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2906, debug_std_frame_3: 0.3493, debug_std_frame_4: 0.4109, debug_std_frame_5: 0.4727, loss_rl: -0.2697, loss_critic: 1.3139, loss_rl_bc: 0.0079, il_score: 0.6427, rl_score: 0.6637, prev_frame_loss_waypoint_0: 0.1718, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4422, grad_norm: 48.5087, il_score_sum: 64.9979, rl_score_sum: 66.4419, score_diff: -1.4441, il_win: 76.0000, rl_win: 291.0000
2025-09-24 13:10:20,537 - mmdet - INFO - Epoch [16][1400/3517]	lr: 1.547e-05, eta: 6:44:58, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1693, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2811, debug_std_frame_3: 0.3350, debug_std_frame_4: 0.3907, debug_std_frame_5: 0.4486, loss_rl: -0.2369, loss_critic: 1.2733, loss_rl_bc: 0.0055, il_score: 0.6590, rl_score: 0.6686, prev_frame_loss_waypoint_0: 0.1781, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.4227, grad_norm: 33.5874, il_score_sum: 64.9979, rl_score_sum: 66.4419, score_diff: -1.4441, il_win: 76.0000, rl_win: 291.0000
2025-09-24 13:10:36,697 - mmdet - INFO - Epoch [16][1420/3517]	lr: 1.547e-05, eta: 6:44:42, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.2019, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2936, debug_std_frame_3: 0.3522, debug_std_frame_4: 0.4140, debug_std_frame_5: 0.4781, loss_rl: -0.2542, loss_critic: 1.1045, loss_rl_bc: 0.0123, il_score: 0.6756, rl_score: 0.6846, prev_frame_loss_waypoint_0: 0.2395, prev_frame_loss_rl_bc_0: 0.0395, loss: 1.3715, grad_norm: 55.4916, il_score_sum: 64.9979, rl_score_sum: 66.4419, score_diff: -1.4441, il_win: 76.0000, rl_win: 291.0000
2025-09-24 13:10:52,850 - mmdet - INFO - Epoch [16][1440/3517]	lr: 1.547e-05, eta: 6:44:26, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1674, debug_std_frame_0: 0.2235, debug_std_frame_1: 0.2568, debug_std_frame_2: 0.3060, debug_std_frame_3: 0.3599, debug_std_frame_4: 0.4119, debug_std_frame_5: 0.4652, loss_rl: -0.2337, loss_critic: 1.3981, loss_rl_bc: 0.0097, il_score: 0.6403, rl_score: 0.6451, prev_frame_loss_waypoint_0: 0.1915, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.5785, grad_norm: 55.3093, il_score_sum: 64.9979, rl_score_sum: 66.4419, score_diff: -1.4441, il_win: 76.0000, rl_win: 291.0000
2025-09-24 13:11:09,176 - mmdet - INFO - Epoch [16][1460/3517]	lr: 1.547e-05, eta: 6:44:10, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1692, debug_std_frame_0: 0.2227, debug_std_frame_1: 0.2574, debug_std_frame_2: 0.3014, debug_std_frame_3: 0.3512, debug_std_frame_4: 0.4001, debug_std_frame_5: 0.4509, loss_rl: -0.2350, loss_critic: 1.4183, loss_rl_bc: 0.0120, il_score: 0.6492, rl_score: 0.6469, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0147, loss: 1.5997, grad_norm: 61.5665, il_score_sum: 65.0044, rl_score_sum: 66.4264, score_diff: -1.4220, il_win: 76.0000, rl_win: 291.4000
2025-09-24 13:11:25,222 - mmdet - INFO - Epoch [16][1480/3517]	lr: 1.547e-05, eta: 6:43:54, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1834, debug_std_frame_0: 0.2323, debug_std_frame_1: 0.2743, debug_std_frame_2: 0.3296, debug_std_frame_3: 0.3854, debug_std_frame_4: 0.4395, debug_std_frame_5: 0.4953, loss_rl: -0.1844, loss_critic: 1.1670, loss_rl_bc: 0.0109, il_score: 0.6259, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.1971, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.4144, grad_norm: 70.1354, il_score_sum: 65.0044, rl_score_sum: 66.4264, score_diff: -1.4220, il_win: 76.0000, rl_win: 291.4000
2025-09-24 13:11:41,608 - mmdet - INFO - Epoch [16][1500/3517]	lr: 1.547e-05, eta: 6:43:38, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1669, debug_std_frame_0: 0.2349, debug_std_frame_1: 0.2736, debug_std_frame_2: 0.3214, debug_std_frame_3: 0.3730, debug_std_frame_4: 0.4244, debug_std_frame_5: 0.4780, loss_rl: -0.2527, loss_critic: 1.1800, loss_rl_bc: 0.0097, il_score: 0.6552, rl_score: 0.6572, prev_frame_loss_waypoint_0: 0.1816, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.3247, grad_norm: 48.9034, il_score_sum: 65.0044, rl_score_sum: 66.4264, score_diff: -1.4220, il_win: 76.0000, rl_win: 291.4000
2025-09-24 13:11:57,777 - mmdet - INFO - Epoch [16][1520/3517]	lr: 1.547e-05, eta: 6:43:22, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1613, debug_std_frame_0: 0.2270, debug_std_frame_1: 0.2659, debug_std_frame_2: 0.3134, debug_std_frame_3: 0.3635, debug_std_frame_4: 0.4131, debug_std_frame_5: 0.4646, loss_rl: -0.2177, loss_critic: 1.3535, loss_rl_bc: 0.0080, il_score: 0.6614, rl_score: 0.6848, prev_frame_loss_waypoint_0: 0.1852, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.5317, grad_norm: 48.2427, il_score_sum: 65.0044, rl_score_sum: 66.4264, score_diff: -1.4220, il_win: 76.0000, rl_win: 291.4000
2025-09-24 13:12:13,820 - mmdet - INFO - Epoch [16][1540/3517]	lr: 1.547e-05, eta: 6:43:06, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1868, debug_std_frame_0: 0.2305, debug_std_frame_1: 0.2654, debug_std_frame_2: 0.3128, debug_std_frame_3: 0.3626, debug_std_frame_4: 0.4127, debug_std_frame_5: 0.4685, loss_rl: -0.1911, loss_critic: 0.9268, loss_rl_bc: 0.0099, il_score: 0.6534, rl_score: 0.6454, prev_frame_loss_waypoint_0: 0.2001, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.1724, grad_norm: 60.6146, il_score_sum: 65.0044, rl_score_sum: 66.4264, score_diff: -1.4220, il_win: 76.0000, rl_win: 291.4000
2025-09-24 13:12:30,130 - mmdet - INFO - Epoch [16][1560/3517]	lr: 1.547e-05, eta: 6:42:50, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0300, loss_waypoint: 0.1706, debug_std_frame_0: 0.2235, debug_std_frame_1: 0.2558, debug_std_frame_2: 0.3001, debug_std_frame_3: 0.3472, debug_std_frame_4: 0.3949, debug_std_frame_5: 0.4458, loss_rl: -0.2586, loss_critic: 1.4781, loss_rl_bc: 0.0107, il_score: 0.6713, rl_score: 0.6707, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.6202, grad_norm: 52.1637, il_score_sum: 64.9941, rl_score_sum: 66.3683, score_diff: -1.3742, il_win: 76.0000, rl_win: 291.7500
2025-09-24 13:12:46,715 - mmdet - INFO - Epoch [16][1580/3517]	lr: 1.547e-05, eta: 6:42:35, time: 0.829, data_time: 0.014, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1546, debug_std_frame_0: 0.2256, debug_std_frame_1: 0.2535, debug_std_frame_2: 0.2957, debug_std_frame_3: 0.3417, debug_std_frame_4: 0.3883, debug_std_frame_5: 0.4386, loss_rl: -0.2512, loss_critic: 1.3423, loss_rl_bc: 0.0041, il_score: 0.6558, rl_score: 0.6665, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.4652, grad_norm: 46.2995, il_score_sum: 64.9941, rl_score_sum: 66.3683, score_diff: -1.3742, il_win: 76.0000, rl_win: 291.7500
2025-09-24 13:13:02,766 - mmdet - INFO - Epoch [16][1600/3517]	lr: 1.547e-05, eta: 6:42:19, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1600, debug_std_frame_0: 0.2226, debug_std_frame_1: 0.2521, debug_std_frame_2: 0.2952, debug_std_frame_3: 0.3428, debug_std_frame_4: 0.3927, debug_std_frame_5: 0.4499, loss_rl: -0.2297, loss_critic: 1.3252, loss_rl_bc: 0.0066, il_score: 0.6853, rl_score: 0.6767, prev_frame_loss_waypoint_0: 0.1748, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4729, grad_norm: 43.9052, il_score_sum: 64.9941, rl_score_sum: 66.3683, score_diff: -1.3742, il_win: 76.0000, rl_win: 291.7500
2025-09-24 13:13:19,070 - mmdet - INFO - Epoch [16][1620/3517]	lr: 1.547e-05, eta: 6:42:03, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1644, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2423, debug_std_frame_2: 0.2829, debug_std_frame_3: 0.3283, debug_std_frame_4: 0.3747, debug_std_frame_5: 0.4259, loss_rl: -0.2626, loss_critic: 1.4590, loss_rl_bc: 0.0102, il_score: 0.6762, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.1949, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.5997, grad_norm: 45.3157, il_score_sum: 64.9941, rl_score_sum: 66.3683, score_diff: -1.3742, il_win: 76.0000, rl_win: 291.7500
2025-09-24 13:13:35,235 - mmdet - INFO - Epoch [16][1640/3517]	lr: 1.547e-05, eta: 6:41:47, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1790, debug_std_frame_0: 0.2201, debug_std_frame_1: 0.2503, debug_std_frame_2: 0.2963, debug_std_frame_3: 0.3459, debug_std_frame_4: 0.3994, debug_std_frame_5: 0.4564, loss_rl: -0.2089, loss_critic: 1.5048, loss_rl_bc: 0.0121, il_score: 0.6462, rl_score: 0.6257, prev_frame_loss_waypoint_0: 0.2018, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.7295, grad_norm: 43.0849, il_score_sum: 64.9941, rl_score_sum: 66.3683, score_diff: -1.3742, il_win: 76.0000, rl_win: 291.7500
2025-09-24 13:13:51,479 - mmdet - INFO - Epoch [16][1660/3517]	lr: 1.547e-05, eta: 6:41:31, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1868, debug_std_frame_0: 0.2200, debug_std_frame_1: 0.2534, debug_std_frame_2: 0.3026, debug_std_frame_3: 0.3566, debug_std_frame_4: 0.4091, debug_std_frame_5: 0.4685, loss_rl: -0.2311, loss_critic: 1.2124, loss_rl_bc: 0.0096, il_score: 0.6481, rl_score: 0.6578, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.3986, grad_norm: 43.9463, il_score_sum: 65.0756, rl_score_sum: 66.3414, score_diff: -1.2658, il_win: 76.0000, rl_win: 292.0588
2025-09-24 13:14:07,532 - mmdet - INFO - Epoch [16][1680/3517]	lr: 1.547e-05, eta: 6:41:15, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1810, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2482, debug_std_frame_2: 0.2966, debug_std_frame_3: 0.3465, debug_std_frame_4: 0.3970, debug_std_frame_5: 0.4515, loss_rl: -0.2243, loss_critic: 1.4569, loss_rl_bc: 0.0104, il_score: 0.6495, rl_score: 0.6575, prev_frame_loss_waypoint_0: 0.1782, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.6352, grad_norm: 47.6732, il_score_sum: 65.0756, rl_score_sum: 66.3414, score_diff: -1.2658, il_win: 76.0000, rl_win: 292.0588
2025-09-24 13:14:24,017 - mmdet - INFO - Epoch [16][1700/3517]	lr: 1.547e-05, eta: 6:40:59, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1694, debug_std_frame_0: 0.2191, debug_std_frame_1: 0.2469, debug_std_frame_2: 0.2960, debug_std_frame_3: 0.3457, debug_std_frame_4: 0.3965, debug_std_frame_5: 0.4567, loss_rl: -0.2419, loss_critic: 1.2465, loss_rl_bc: 0.0080, il_score: 0.6505, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.1977, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.4190, grad_norm: 45.9115, il_score_sum: 65.0756, rl_score_sum: 66.3414, score_diff: -1.2658, il_win: 76.0000, rl_win: 292.0588
2025-09-24 13:14:40,199 - mmdet - INFO - Epoch [16][1720/3517]	lr: 1.547e-05, eta: 6:40:43, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1879, debug_std_frame_0: 0.2247, debug_std_frame_1: 0.2526, debug_std_frame_2: 0.3001, debug_std_frame_3: 0.3491, debug_std_frame_4: 0.3994, debug_std_frame_5: 0.4528, loss_rl: -0.2476, loss_critic: 1.2797, loss_rl_bc: 0.0113, il_score: 0.6265, rl_score: 0.6458, prev_frame_loss_waypoint_0: 0.2046, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4718, grad_norm: 57.4149, il_score_sum: 65.0756, rl_score_sum: 66.3414, score_diff: -1.2658, il_win: 76.0000, rl_win: 292.0588
2025-09-24 13:14:56,624 - mmdet - INFO - Epoch [16][1740/3517]	lr: 1.547e-05, eta: 6:40:27, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1718, debug_std_frame_0: 0.2220, debug_std_frame_1: 0.2491, debug_std_frame_2: 0.2942, debug_std_frame_3: 0.3412, debug_std_frame_4: 0.3895, debug_std_frame_5: 0.4417, loss_rl: -0.2534, loss_critic: 1.3309, loss_rl_bc: 0.0073, il_score: 0.6594, rl_score: 0.6747, prev_frame_loss_waypoint_0: 0.2144, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.5156, grad_norm: 59.2644, il_score_sum: 65.0756, rl_score_sum: 66.3414, score_diff: -1.2658, il_win: 76.0000, rl_win: 292.0588
2025-09-24 13:15:12,911 - mmdet - INFO - Epoch [16][1760/3517]	lr: 1.547e-05, eta: 6:40:11, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1713, debug_std_frame_0: 0.2194, debug_std_frame_1: 0.2513, debug_std_frame_2: 0.3014, debug_std_frame_3: 0.3510, debug_std_frame_4: 0.4027, debug_std_frame_5: 0.4580, loss_rl: -0.2426, loss_critic: 1.4662, loss_rl_bc: 0.0071, il_score: 0.6785, rl_score: 0.6786, prev_frame_loss_waypoint_0: 0.1876, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.6277, grad_norm: 42.3359, il_score_sum: 65.0880, rl_score_sum: 66.3649, score_diff: -1.2768, il_win: 76.0000, rl_win: 292.3889
2025-09-24 13:15:28,894 - mmdet - INFO - Epoch [16][1780/3517]	lr: 1.547e-05, eta: 6:39:55, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1702, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2454, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3397, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4419, loss_rl: -0.2780, loss_critic: 1.2652, loss_rl_bc: 0.0039, il_score: 0.6629, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.3728, grad_norm: 41.5653, il_score_sum: 65.0880, rl_score_sum: 66.3649, score_diff: -1.2768, il_win: 76.0000, rl_win: 292.3889
2025-09-24 13:15:45,030 - mmdet - INFO - Epoch [16][1800/3517]	lr: 1.547e-05, eta: 6:39:39, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1708, debug_std_frame_0: 0.2162, debug_std_frame_1: 0.2430, debug_std_frame_2: 0.2889, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3840, debug_std_frame_5: 0.4344, loss_rl: -0.2838, loss_critic: 1.7836, loss_rl_bc: 0.0086, il_score: 0.6316, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.1844, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.8965, grad_norm: 55.1194, il_score_sum: 65.0880, rl_score_sum: 66.3649, score_diff: -1.2768, il_win: 76.0000, rl_win: 292.3889
2025-09-24 13:16:01,290 - mmdet - INFO - Epoch [16][1820/3517]	lr: 1.547e-05, eta: 6:39:23, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1553, debug_std_frame_0: 0.2163, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2898, debug_std_frame_3: 0.3409, debug_std_frame_4: 0.3941, debug_std_frame_5: 0.4507, loss_rl: -0.2095, loss_critic: 1.1678, loss_rl_bc: 0.0068, il_score: 0.6440, rl_score: 0.6558, prev_frame_loss_waypoint_0: 0.1968, prev_frame_loss_rl_bc_0: 0.0432, loss: 1.3884, grad_norm: 43.2647, il_score_sum: 65.0880, rl_score_sum: 66.3649, score_diff: -1.2768, il_win: 76.0000, rl_win: 292.3889
2025-09-24 13:16:17,294 - mmdet - INFO - Epoch [16][1840/3517]	lr: 1.547e-05, eta: 6:39:07, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1796, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2446, debug_std_frame_2: 0.2915, debug_std_frame_3: 0.3439, debug_std_frame_4: 0.3951, debug_std_frame_5: 0.4524, loss_rl: -0.2291, loss_critic: 1.2369, loss_rl_bc: 0.0108, il_score: 0.6469, rl_score: 0.6649, prev_frame_loss_waypoint_0: 0.2017, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.4362, grad_norm: 42.3304, il_score_sum: 65.0880, rl_score_sum: 66.3649, score_diff: -1.2768, il_win: 76.0000, rl_win: 292.3889
2025-09-24 13:16:33,462 - mmdet - INFO - Epoch [16][1860/3517]	lr: 1.547e-05, eta: 6:38:51, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1637, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.2971, debug_std_frame_3: 0.3559, debug_std_frame_4: 0.4113, debug_std_frame_5: 0.4747, loss_rl: -0.2865, loss_critic: 1.4490, loss_rl_bc: 0.0056, il_score: 0.6512, rl_score: 0.6653, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.5647, grad_norm: 41.6378, il_score_sum: 65.0812, rl_score_sum: 66.4138, score_diff: -1.3326, il_win: 76.0000, rl_win: 292.7368
2025-09-24 13:16:49,239 - mmdet - INFO - Epoch [16][1880/3517]	lr: 1.547e-05, eta: 6:38:35, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1826, debug_std_frame_0: 0.2147, debug_std_frame_1: 0.2421, debug_std_frame_2: 0.2893, debug_std_frame_3: 0.3448, debug_std_frame_4: 0.4009, debug_std_frame_5: 0.4614, loss_rl: -0.2656, loss_critic: 1.0615, loss_rl_bc: 0.0125, il_score: 0.6889, rl_score: 0.6869, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.2289, grad_norm: 31.6897, il_score_sum: 65.0812, rl_score_sum: 66.4138, score_diff: -1.3326, il_win: 76.0000, rl_win: 292.7368
2025-09-24 13:17:05,445 - mmdet - INFO - Epoch [16][1900/3517]	lr: 1.547e-05, eta: 6:38:19, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1818, debug_std_frame_0: 0.2175, debug_std_frame_1: 0.2486, debug_std_frame_2: 0.2993, debug_std_frame_3: 0.3600, debug_std_frame_4: 0.4213, debug_std_frame_5: 0.4821, loss_rl: -0.2551, loss_critic: 1.4022, loss_rl_bc: 0.0153, il_score: 0.6257, rl_score: 0.6409, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.5641, grad_norm: 48.4768, il_score_sum: 65.0812, rl_score_sum: 66.4138, score_diff: -1.3326, il_win: 76.0000, rl_win: 292.7368
2025-09-24 13:17:21,603 - mmdet - INFO - Epoch [16][1920/3517]	lr: 1.547e-05, eta: 6:38:03, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1751, debug_std_frame_0: 0.2200, debug_std_frame_1: 0.2461, debug_std_frame_2: 0.2943, debug_std_frame_3: 0.3517, debug_std_frame_4: 0.4076, debug_std_frame_5: 0.4701, loss_rl: -0.2670, loss_critic: 1.6927, loss_rl_bc: 0.0102, il_score: 0.6429, rl_score: 0.6746, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.8339, grad_norm: 56.9098, il_score_sum: 65.0812, rl_score_sum: 66.4138, score_diff: -1.3326, il_win: 76.0000, rl_win: 292.7368
2025-09-24 13:17:37,579 - mmdet - INFO - Epoch [16][1940/3517]	lr: 1.547e-05, eta: 6:37:46, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1513, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2396, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3365, debug_std_frame_4: 0.3882, debug_std_frame_5: 0.4449, loss_rl: -0.2277, loss_critic: 1.5451, loss_rl_bc: 0.0061, il_score: 0.6477, rl_score: 0.6626, prev_frame_loss_waypoint_0: 0.1628, prev_frame_loss_rl_bc_0: 0.0023, loss: 1.6684, grad_norm: 44.6125, il_score_sum: 65.0812, rl_score_sum: 66.4138, score_diff: -1.3326, il_win: 76.0000, rl_win: 292.7368
2025-09-24 13:17:53,595 - mmdet - INFO - Epoch [16][1960/3517]	lr: 1.547e-05, eta: 6:37:30, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1708, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3458, debug_std_frame_4: 0.3990, debug_std_frame_5: 0.4573, loss_rl: -0.2930, loss_critic: 1.1305, loss_rl_bc: 0.0073, il_score: 0.6952, rl_score: 0.7005, prev_frame_loss_waypoint_0: 0.1620, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.2097, grad_norm: 41.2434, il_score_sum: 65.0783, rl_score_sum: 66.4073, score_diff: -1.3290, il_win: 76.0000, rl_win: 293.1000
2025-09-24 13:18:09,775 - mmdet - INFO - Epoch [16][1980/3517]	lr: 1.547e-05, eta: 6:37:14, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1750, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2367, debug_std_frame_2: 0.2821, debug_std_frame_3: 0.3390, debug_std_frame_4: 0.3933, debug_std_frame_5: 0.4552, loss_rl: -0.2533, loss_critic: 1.3668, loss_rl_bc: 0.0080, il_score: 0.6480, rl_score: 0.6766, prev_frame_loss_waypoint_0: 0.2091, prev_frame_loss_rl_bc_0: 0.0188, loss: 1.5519, grad_norm: 43.2599, il_score_sum: 65.0783, rl_score_sum: 66.4073, score_diff: -1.3290, il_win: 76.0000, rl_win: 293.1000
2025-09-24 13:18:25,985 - mmdet - INFO - Epoch [16][2000/3517]	lr: 1.547e-05, eta: 6:36:58, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1848, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2395, debug_std_frame_2: 0.2905, debug_std_frame_3: 0.3494, debug_std_frame_4: 0.4035, debug_std_frame_5: 0.4651, loss_rl: -0.2266, loss_critic: 1.5303, loss_rl_bc: 0.0113, il_score: 0.6249, rl_score: 0.6312, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.7377, grad_norm: 43.0282, il_score_sum: 65.0783, rl_score_sum: 66.4073, score_diff: -1.3290, il_win: 76.0000, rl_win: 293.1000
2025-09-24 13:18:42,047 - mmdet - INFO - Epoch [16][2020/3517]	lr: 1.547e-05, eta: 6:36:42, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1489, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2356, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3895, debug_std_frame_5: 0.4468, loss_rl: -0.3036, loss_critic: 1.3155, loss_rl_bc: 0.0023, il_score: 0.6760, rl_score: 0.7118, prev_frame_loss_waypoint_0: 0.1546, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.3445, grad_norm: 42.1221, il_score_sum: 65.0783, rl_score_sum: 66.4073, score_diff: -1.3290, il_win: 76.0000, rl_win: 293.1000
2025-09-24 13:18:57,975 - mmdet - INFO - Epoch [16][2040/3517]	lr: 1.547e-05, eta: 6:36:26, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1887, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2349, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3394, debug_std_frame_4: 0.3931, debug_std_frame_5: 0.4534, loss_rl: -0.2572, loss_critic: 1.3830, loss_rl_bc: 0.0143, il_score: 0.6252, rl_score: 0.6494, prev_frame_loss_waypoint_0: 0.2013, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.5669, grad_norm: 61.0517, il_score_sum: 65.0783, rl_score_sum: 66.4073, score_diff: -1.3290, il_win: 76.0000, rl_win: 293.1000
2025-09-24 13:19:14,226 - mmdet - INFO - Epoch [16][2060/3517]	lr: 1.547e-05, eta: 6:36:10, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1714, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2334, debug_std_frame_2: 0.2798, debug_std_frame_3: 0.3356, debug_std_frame_4: 0.3880, debug_std_frame_5: 0.4423, loss_rl: -0.3013, loss_critic: 1.1847, loss_rl_bc: 0.0029, il_score: 0.6647, rl_score: 0.7038, prev_frame_loss_waypoint_0: 0.1762, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.2616, grad_norm: 63.2962, il_score_sum: 65.1805, rl_score_sum: 66.5044, score_diff: -1.3239, il_win: 76.0000, rl_win: 293.8000
2025-09-24 13:19:30,278 - mmdet - INFO - Epoch [16][2080/3517]	lr: 1.547e-05, eta: 6:35:54, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1777, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2287, debug_std_frame_2: 0.2797, debug_std_frame_3: 0.3371, debug_std_frame_4: 0.3916, debug_std_frame_5: 0.4493, loss_rl: -0.2668, loss_critic: 1.3071, loss_rl_bc: 0.0070, il_score: 0.6621, rl_score: 0.6760, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.4563, grad_norm: 42.6091, il_score_sum: 65.1805, rl_score_sum: 66.5044, score_diff: -1.3239, il_win: 76.0000, rl_win: 293.8000
2025-09-24 13:19:46,410 - mmdet - INFO - Epoch [16][2100/3517]	lr: 1.547e-05, eta: 6:35:38, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1718, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2285, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3361, debug_std_frame_4: 0.3938, debug_std_frame_5: 0.4541, loss_rl: -0.2687, loss_critic: 1.2646, loss_rl_bc: 0.0056, il_score: 0.6727, rl_score: 0.6871, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.4069, grad_norm: 49.2613, il_score_sum: 65.1805, rl_score_sum: 66.5044, score_diff: -1.3239, il_win: 76.0000, rl_win: 293.8000
2025-09-24 13:20:02,427 - mmdet - INFO - Epoch [16][2120/3517]	lr: 1.547e-05, eta: 6:35:22, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1788, debug_std_frame_0: 0.2157, debug_std_frame_1: 0.2393, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3430, debug_std_frame_4: 0.3964, debug_std_frame_5: 0.4511, loss_rl: -0.2663, loss_critic: 1.3236, loss_rl_bc: 0.0079, il_score: 0.6637, rl_score: 0.6924, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.4734, grad_norm: 52.5074, il_score_sum: 65.1805, rl_score_sum: 66.5044, score_diff: -1.3239, il_win: 76.0000, rl_win: 293.8000
2025-09-24 13:20:18,509 - mmdet - INFO - Epoch [16][2140/3517]	lr: 1.547e-05, eta: 6:35:06, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1785, debug_std_frame_0: 0.2172, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2971, debug_std_frame_3: 0.3540, debug_std_frame_4: 0.4112, debug_std_frame_5: 0.4719, loss_rl: -0.2261, loss_critic: 1.3546, loss_rl_bc: 0.0103, il_score: 0.6622, rl_score: 0.6721, prev_frame_loss_waypoint_0: 0.1927, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.5461, grad_norm: 50.9011, il_score_sum: 65.1805, rl_score_sum: 66.5044, score_diff: -1.3239, il_win: 76.0000, rl_win: 293.8000
2025-09-24 13:20:34,589 - mmdet - INFO - Epoch [16][2160/3517]	lr: 1.547e-05, eta: 6:34:50, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1735, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2356, debug_std_frame_2: 0.2823, debug_std_frame_3: 0.3385, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4456, loss_rl: -0.2538, loss_critic: 1.3207, loss_rl_bc: 0.0126, il_score: 0.6833, rl_score: 0.6926, prev_frame_loss_waypoint_0: 0.1607, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4505, grad_norm: 37.7621, il_score_sum: 65.1148, rl_score_sum: 66.4882, score_diff: -1.3734, il_win: 76.0000, rl_win: 294.5000
2025-09-24 13:20:50,505 - mmdet - INFO - Epoch [16][2180/3517]	lr: 1.547e-05, eta: 6:34:34, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1891, debug_std_frame_0: 0.2179, debug_std_frame_1: 0.2466, debug_std_frame_2: 0.2969, debug_std_frame_3: 0.3565, debug_std_frame_4: 0.4149, debug_std_frame_5: 0.4744, loss_rl: -0.2123, loss_critic: 1.4057, loss_rl_bc: 0.0172, il_score: 0.6329, rl_score: 0.6449, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.6176, grad_norm: 49.0194, il_score_sum: 65.1148, rl_score_sum: 66.4882, score_diff: -1.3734, il_win: 76.0000, rl_win: 294.5000
2025-09-24 13:21:06,464 - mmdet - INFO - Epoch [16][2200/3517]	lr: 1.547e-05, eta: 6:34:18, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2032, debug_std_frame_0: 0.2220, debug_std_frame_1: 0.2525, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3618, debug_std_frame_4: 0.4215, debug_std_frame_5: 0.4802, loss_rl: -0.1991, loss_critic: 1.1543, loss_rl_bc: 0.0127, il_score: 0.6209, rl_score: 0.6636, prev_frame_loss_waypoint_0: 0.2166, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.4303, grad_norm: 55.7501, il_score_sum: 65.1148, rl_score_sum: 66.4882, score_diff: -1.3734, il_win: 76.0000, rl_win: 294.5000
2025-09-24 13:21:22,573 - mmdet - INFO - Epoch [16][2220/3517]	lr: 1.547e-05, eta: 6:34:02, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1667, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2405, debug_std_frame_2: 0.2897, debug_std_frame_3: 0.3503, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4641, loss_rl: -0.2934, loss_critic: 1.3910, loss_rl_bc: 0.0050, il_score: 0.6668, rl_score: 0.6834, prev_frame_loss_waypoint_0: 0.1829, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.4886, grad_norm: 42.7054, il_score_sum: 65.1148, rl_score_sum: 66.4882, score_diff: -1.3734, il_win: 76.0000, rl_win: 294.5000
2025-09-24 13:21:38,594 - mmdet - INFO - Epoch [16][2240/3517]	lr: 1.547e-05, eta: 6:33:45, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1870, debug_std_frame_0: 0.2197, debug_std_frame_1: 0.2475, debug_std_frame_2: 0.2967, debug_std_frame_3: 0.3547, debug_std_frame_4: 0.4111, debug_std_frame_5: 0.4753, loss_rl: -0.2204, loss_critic: 1.3659, loss_rl_bc: 0.0111, il_score: 0.6045, rl_score: 0.6357, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.5759, grad_norm: 63.4189, il_score_sum: 65.1148, rl_score_sum: 66.4882, score_diff: -1.3734, il_win: 76.0000, rl_win: 294.5000
2025-09-24 13:21:54,514 - mmdet - INFO - Epoch [16][2260/3517]	lr: 1.547e-05, eta: 6:33:29, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1709, debug_std_frame_0: 0.2184, debug_std_frame_1: 0.2495, debug_std_frame_2: 0.3020, debug_std_frame_3: 0.3634, debug_std_frame_4: 0.4212, debug_std_frame_5: 0.4827, loss_rl: -0.2440, loss_critic: 1.6390, loss_rl_bc: 0.0079, il_score: 0.6302, rl_score: 0.6504, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.7937, grad_norm: 53.8369, il_score_sum: 65.0998, rl_score_sum: 66.5602, score_diff: -1.4604, il_win: 76.0000, rl_win: 295.2500
2025-09-24 13:22:10,378 - mmdet - INFO - Epoch [16][2280/3517]	lr: 1.547e-05, eta: 6:33:13, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1757, debug_std_frame_0: 0.2218, debug_std_frame_1: 0.2466, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3374, debug_std_frame_4: 0.3902, debug_std_frame_5: 0.4416, loss_rl: -0.2793, loss_critic: 1.3945, loss_rl_bc: 0.0074, il_score: 0.6508, rl_score: 0.6732, prev_frame_loss_waypoint_0: 0.1663, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.5001, grad_norm: 41.0887, il_score_sum: 65.0998, rl_score_sum: 66.5602, score_diff: -1.4604, il_win: 76.0000, rl_win: 295.2500
2025-09-24 13:22:26,561 - mmdet - INFO - Epoch [16][2300/3517]	lr: 1.547e-05, eta: 6:32:57, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1810, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2464, debug_std_frame_2: 0.2924, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.4062, debug_std_frame_5: 0.4635, loss_rl: -0.2353, loss_critic: 1.3319, loss_rl_bc: 0.0107, il_score: 0.6511, rl_score: 0.6603, prev_frame_loss_waypoint_0: 0.1918, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.5167, grad_norm: 59.7806, il_score_sum: 65.0998, rl_score_sum: 66.5602, score_diff: -1.4604, il_win: 76.0000, rl_win: 295.2500
2025-09-24 13:22:42,341 - mmdet - INFO - Epoch [16][2320/3517]	lr: 1.547e-05, eta: 6:32:41, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1918, debug_std_frame_0: 0.2171, debug_std_frame_1: 0.2493, debug_std_frame_2: 0.2993, debug_std_frame_3: 0.3540, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4665, loss_rl: -0.2233, loss_critic: 1.1912, loss_rl_bc: 0.0123, il_score: 0.6565, rl_score: 0.6584, prev_frame_loss_waypoint_0: 0.2043, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.4154, grad_norm: 51.6363, il_score_sum: 65.0998, rl_score_sum: 66.5602, score_diff: -1.4604, il_win: 76.0000, rl_win: 295.2500
2025-09-24 13:22:58,230 - mmdet - INFO - Epoch [16][2340/3517]	lr: 1.547e-05, eta: 6:32:25, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1633, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2406, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3466, debug_std_frame_4: 0.4029, debug_std_frame_5: 0.4582, loss_rl: -0.2796, loss_critic: 1.3088, loss_rl_bc: 0.0076, il_score: 0.6583, rl_score: 0.6929, prev_frame_loss_waypoint_0: 0.1956, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.4309, grad_norm: 45.6973, il_score_sum: 65.0998, rl_score_sum: 66.5602, score_diff: -1.4604, il_win: 76.0000, rl_win: 295.2500
2025-09-24 13:23:14,248 - mmdet - INFO - Epoch [16][2360/3517]	lr: 1.547e-05, eta: 6:32:09, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1758, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2421, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3830, debug_std_frame_5: 0.4318, loss_rl: -0.2745, loss_critic: 1.5087, loss_rl_bc: 0.0051, il_score: 0.6541, rl_score: 0.6805, prev_frame_loss_waypoint_0: 0.1829, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.6316, grad_norm: 46.6368, il_score_sum: 65.0690, rl_score_sum: 66.5740, score_diff: -1.5050, il_win: 76.0000, rl_win: 296.0500
2025-09-24 13:23:30,353 - mmdet - INFO - Epoch [16][2380/3517]	lr: 1.547e-05, eta: 6:31:53, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1784, debug_std_frame_0: 0.2132, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2904, debug_std_frame_3: 0.3439, debug_std_frame_4: 0.4002, debug_std_frame_5: 0.4595, loss_rl: -0.2667, loss_critic: 1.2427, loss_rl_bc: 0.0060, il_score: 0.6210, rl_score: 0.6772, prev_frame_loss_waypoint_0: 0.1870, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.3801, grad_norm: 57.2319, il_score_sum: 65.0690, rl_score_sum: 66.5740, score_diff: -1.5050, il_win: 76.0000, rl_win: 296.0500
2025-09-24 13:23:46,383 - mmdet - INFO - Epoch [16][2400/3517]	lr: 1.547e-05, eta: 6:31:37, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1796, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2339, debug_std_frame_2: 0.2776, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3801, debug_std_frame_5: 0.4290, loss_rl: -0.2406, loss_critic: 1.6454, loss_rl_bc: 0.0079, il_score: 0.6113, rl_score: 0.6565, prev_frame_loss_waypoint_0: 0.1976, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.8248, grad_norm: 63.6619, il_score_sum: 65.0690, rl_score_sum: 66.5740, score_diff: -1.5050, il_win: 76.0000, rl_win: 296.0500
2025-09-24 13:24:02,409 - mmdet - INFO - Epoch [16][2420/3517]	lr: 1.547e-05, eta: 6:31:20, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1516, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2345, debug_std_frame_2: 0.2841, debug_std_frame_3: 0.3365, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4372, loss_rl: -0.2654, loss_critic: 1.5103, loss_rl_bc: 0.0036, il_score: 0.6365, rl_score: 0.6763, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.6201, grad_norm: 51.8489, il_score_sum: 65.0690, rl_score_sum: 66.5740, score_diff: -1.5050, il_win: 76.0000, rl_win: 296.0500
2025-09-24 13:24:18,525 - mmdet - INFO - Epoch [16][2440/3517]	lr: 1.547e-05, eta: 6:31:04, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1849, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2328, debug_std_frame_2: 0.2797, debug_std_frame_3: 0.3300, debug_std_frame_4: 0.3816, debug_std_frame_5: 0.4379, loss_rl: -0.2634, loss_critic: 1.0056, loss_rl_bc: 0.0071, il_score: 0.6460, rl_score: 0.6906, prev_frame_loss_waypoint_0: 0.2020, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.1721, grad_norm: 73.0397, il_score_sum: 65.0690, rl_score_sum: 66.5740, score_diff: -1.5050, il_win: 76.0000, rl_win: 296.0500
2025-09-24 13:24:34,689 - mmdet - INFO - Epoch [16][2460/3517]	lr: 1.547e-05, eta: 6:30:48, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1629, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2358, debug_std_frame_2: 0.2826, debug_std_frame_3: 0.3338, debug_std_frame_4: 0.3838, debug_std_frame_5: 0.4365, loss_rl: -0.2693, loss_critic: 1.0461, loss_rl_bc: 0.0065, il_score: 0.6350, rl_score: 0.6699, prev_frame_loss_waypoint_0: 0.1982, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.1824, grad_norm: 47.8713, il_score_sum: 64.9245, rl_score_sum: 66.5687, score_diff: -1.6442, il_win: 76.0000, rl_win: 296.8500
2025-09-24 13:24:50,653 - mmdet - INFO - Epoch [16][2480/3517]	lr: 1.547e-05, eta: 6:30:32, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1727, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2331, debug_std_frame_2: 0.2839, debug_std_frame_3: 0.3400, debug_std_frame_4: 0.3949, debug_std_frame_5: 0.4527, loss_rl: -0.2921, loss_critic: 1.5110, loss_rl_bc: 0.0083, il_score: 0.6645, rl_score: 0.6696, prev_frame_loss_waypoint_0: 0.1832, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.6178, grad_norm: 46.9366, il_score_sum: 64.9245, rl_score_sum: 66.5687, score_diff: -1.6442, il_win: 76.0000, rl_win: 296.8500
2025-09-24 13:25:06,604 - mmdet - INFO - Epoch [16][2500/3517]	lr: 1.547e-05, eta: 6:30:16, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1838, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2879, debug_std_frame_3: 0.3434, debug_std_frame_4: 0.3991, debug_std_frame_5: 0.4543, loss_rl: -0.2688, loss_critic: 1.4457, loss_rl_bc: 0.0135, il_score: 0.6406, rl_score: 0.6563, prev_frame_loss_waypoint_0: 0.2076, prev_frame_loss_rl_bc_0: 0.0174, loss: 1.6268, grad_norm: 48.6242, il_score_sum: 64.9245, rl_score_sum: 66.5687, score_diff: -1.6442, il_win: 76.0000, rl_win: 296.8500
2025-09-24 13:25:22,429 - mmdet - INFO - Epoch [16][2520/3517]	lr: 1.547e-05, eta: 6:30:00, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1743, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2334, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3331, debug_std_frame_4: 0.3837, debug_std_frame_5: 0.4384, loss_rl: -0.2297, loss_critic: 1.3281, loss_rl_bc: 0.0065, il_score: 0.6426, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.5116, grad_norm: 48.7648, il_score_sum: 64.9245, rl_score_sum: 66.5687, score_diff: -1.6442, il_win: 76.0000, rl_win: 296.8500
2025-09-24 13:25:38,568 - mmdet - INFO - Epoch [16][2540/3517]	lr: 1.547e-05, eta: 6:29:44, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1810, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2368, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3472, debug_std_frame_4: 0.4049, debug_std_frame_5: 0.4639, loss_rl: -0.2182, loss_critic: 1.1030, loss_rl_bc: 0.0092, il_score: 0.6654, rl_score: 0.6877, prev_frame_loss_waypoint_0: 0.1979, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.3100, grad_norm: 49.7718, il_score_sum: 64.9245, rl_score_sum: 66.5687, score_diff: -1.6442, il_win: 76.0000, rl_win: 296.8500
2025-09-24 13:25:54,605 - mmdet - INFO - Epoch [16][2560/3517]	lr: 1.547e-05, eta: 6:29:28, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1589, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2359, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3947, debug_std_frame_5: 0.4500, loss_rl: -0.2550, loss_critic: 1.2599, loss_rl_bc: 0.0038, il_score: 0.6681, rl_score: 0.6882, prev_frame_loss_waypoint_0: 0.1941, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.3981, grad_norm: 34.7683, il_score_sum: 64.9738, rl_score_sum: 66.6552, score_diff: -1.6814, il_win: 76.0000, rl_win: 297.6500
2025-09-24 13:26:10,530 - mmdet - INFO - Epoch [16][2580/3517]	lr: 1.547e-05, eta: 6:29:12, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1761, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2801, debug_std_frame_3: 0.3354, debug_std_frame_4: 0.3865, debug_std_frame_5: 0.4420, loss_rl: -0.2464, loss_critic: 1.0746, loss_rl_bc: 0.0123, il_score: 0.6542, rl_score: 0.6750, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.2367, grad_norm: 47.7653, il_score_sum: 64.9738, rl_score_sum: 66.6552, score_diff: -1.6814, il_win: 76.0000, rl_win: 297.6500
2025-09-24 13:26:26,424 - mmdet - INFO - Epoch [16][2600/3517]	lr: 1.547e-05, eta: 6:28:56, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1937, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2386, debug_std_frame_2: 0.2892, debug_std_frame_3: 0.3432, debug_std_frame_4: 0.3998, debug_std_frame_5: 0.4592, loss_rl: -0.2095, loss_critic: 1.2127, loss_rl_bc: 0.0163, il_score: 0.6026, rl_score: 0.6364, prev_frame_loss_waypoint_0: 0.2161, prev_frame_loss_rl_bc_0: 0.0217, loss: 1.4796, grad_norm: 58.3205, il_score_sum: 64.9738, rl_score_sum: 66.6552, score_diff: -1.6814, il_win: 76.0000, rl_win: 297.6500
2025-09-24 13:26:42,496 - mmdet - INFO - Epoch [16][2620/3517]	lr: 1.547e-05, eta: 6:28:40, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1838, debug_std_frame_0: 0.2141, debug_std_frame_1: 0.2436, debug_std_frame_2: 0.2979, debug_std_frame_3: 0.3536, debug_std_frame_4: 0.4114, debug_std_frame_5: 0.4675, loss_rl: -0.2302, loss_critic: 1.2936, loss_rl_bc: 0.0094, il_score: 0.6582, rl_score: 0.6856, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.4700, grad_norm: 55.8892, il_score_sum: 64.9738, rl_score_sum: 66.6552, score_diff: -1.6814, il_win: 76.0000, rl_win: 297.6500
2025-09-24 13:26:58,434 - mmdet - INFO - Epoch [16][2640/3517]	lr: 1.547e-05, eta: 6:28:23, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1679, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2397, debug_std_frame_2: 0.2917, debug_std_frame_3: 0.3453, debug_std_frame_4: 0.4004, debug_std_frame_5: 0.4578, loss_rl: -0.2684, loss_critic: 1.2784, loss_rl_bc: 0.0087, il_score: 0.6723, rl_score: 0.6732, prev_frame_loss_waypoint_0: 0.1896, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4165, grad_norm: 35.3026, il_score_sum: 64.9738, rl_score_sum: 66.6552, score_diff: -1.6814, il_win: 76.0000, rl_win: 297.6500
2025-09-24 13:27:14,556 - mmdet - INFO - Epoch [16][2660/3517]	lr: 1.547e-05, eta: 6:28:07, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1971, debug_std_frame_0: 0.2176, debug_std_frame_1: 0.2488, debug_std_frame_2: 0.3071, debug_std_frame_3: 0.3623, debug_std_frame_4: 0.4201, debug_std_frame_5: 0.4797, loss_rl: -0.2094, loss_critic: 1.2438, loss_rl_bc: 0.0134, il_score: 0.6515, rl_score: 0.6764, prev_frame_loss_waypoint_0: 0.2128, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.4993, grad_norm: 58.6295, il_score_sum: 64.9533, rl_score_sum: 66.7155, score_diff: -1.7622, il_win: 76.0000, rl_win: 298.5000
2025-09-24 13:27:30,412 - mmdet - INFO - Epoch [16][2680/3517]	lr: 1.547e-05, eta: 6:27:51, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1483, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2432, debug_std_frame_2: 0.2984, debug_std_frame_3: 0.3501, debug_std_frame_4: 0.4061, debug_std_frame_5: 0.4608, loss_rl: -0.2492, loss_critic: 1.5381, loss_rl_bc: 0.0022, il_score: 0.6257, rl_score: 0.6449, prev_frame_loss_waypoint_0: 0.1787, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.6532, grad_norm: 45.5749, il_score_sum: 64.9533, rl_score_sum: 66.7155, score_diff: -1.7622, il_win: 76.0000, rl_win: 298.5000
2025-09-24 13:27:46,508 - mmdet - INFO - Epoch [16][2700/3517]	lr: 1.547e-05, eta: 6:27:35, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1470, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2366, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.4021, debug_std_frame_5: 0.4584, loss_rl: -0.2763, loss_critic: 1.5448, loss_rl_bc: 0.0052, il_score: 0.6544, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.1724, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6272, grad_norm: 42.4336, il_score_sum: 64.9533, rl_score_sum: 66.7155, score_diff: -1.7622, il_win: 76.0000, rl_win: 298.5000
2025-09-24 13:28:02,435 - mmdet - INFO - Epoch [16][2720/3517]	lr: 1.547e-05, eta: 6:27:19, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1674, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2849, debug_std_frame_3: 0.3357, debug_std_frame_4: 0.3887, debug_std_frame_5: 0.4422, loss_rl: -0.2609, loss_critic: 1.3558, loss_rl_bc: 0.0047, il_score: 0.6617, rl_score: 0.6909, prev_frame_loss_waypoint_0: 0.1776, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4784, grad_norm: 49.6952, il_score_sum: 64.9533, rl_score_sum: 66.7155, score_diff: -1.7622, il_win: 76.0000, rl_win: 298.5000
2025-09-24 13:28:18,425 - mmdet - INFO - Epoch [16][2740/3517]	lr: 1.547e-05, eta: 6:27:03, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1806, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2363, debug_std_frame_2: 0.2839, debug_std_frame_3: 0.3348, debug_std_frame_4: 0.3870, debug_std_frame_5: 0.4437, loss_rl: -0.2864, loss_critic: 1.2496, loss_rl_bc: 0.0110, il_score: 0.6707, rl_score: 0.6943, prev_frame_loss_waypoint_0: 0.1922, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.3817, grad_norm: 44.1648, il_score_sum: 64.9533, rl_score_sum: 66.7155, score_diff: -1.7622, il_win: 76.0000, rl_win: 298.5000
2025-09-24 13:28:34,531 - mmdet - INFO - Epoch [16][2760/3517]	lr: 1.547e-05, eta: 6:26:47, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1655, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2813, debug_std_frame_3: 0.3327, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4412, loss_rl: -0.2462, loss_critic: 1.2696, loss_rl_bc: 0.0136, il_score: 0.6559, rl_score: 0.6524, prev_frame_loss_waypoint_0: 0.1991, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.4468, grad_norm: 50.1674, il_score_sum: 64.9980, rl_score_sum: 66.7376, score_diff: -1.7396, il_win: 76.0000, rl_win: 299.3500
2025-09-24 13:28:50,622 - mmdet - INFO - Epoch [16][2780/3517]	lr: 1.547e-05, eta: 6:26:31, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.2072, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2425, debug_std_frame_2: 0.2977, debug_std_frame_3: 0.3514, debug_std_frame_4: 0.4057, debug_std_frame_5: 0.4662, loss_rl: -0.2223, loss_critic: 1.3021, loss_rl_bc: 0.0192, il_score: 0.6290, rl_score: 0.6648, prev_frame_loss_waypoint_0: 0.2083, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.5537, grad_norm: 55.4879, il_score_sum: 64.9980, rl_score_sum: 66.7376, score_diff: -1.7396, il_win: 76.0000, rl_win: 299.3500
2025-09-24 13:29:06,679 - mmdet - INFO - Epoch [16][2800/3517]	lr: 1.547e-05, eta: 6:26:15, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1660, debug_std_frame_0: 0.2188, debug_std_frame_1: 0.2464, debug_std_frame_2: 0.2969, debug_std_frame_3: 0.3467, debug_std_frame_4: 0.3997, debug_std_frame_5: 0.4576, loss_rl: -0.2516, loss_critic: 1.2099, loss_rl_bc: 0.0042, il_score: 0.6897, rl_score: 0.6941, prev_frame_loss_waypoint_0: 0.1856, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.3511, grad_norm: 52.6764, il_score_sum: 64.9980, rl_score_sum: 66.7376, score_diff: -1.7396, il_win: 76.0000, rl_win: 299.3500
2025-09-24 13:29:22,677 - mmdet - INFO - Epoch [16][2820/3517]	lr: 1.547e-05, eta: 6:25:59, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1688, debug_std_frame_0: 0.2184, debug_std_frame_1: 0.2465, debug_std_frame_2: 0.3006, debug_std_frame_3: 0.3525, debug_std_frame_4: 0.4067, debug_std_frame_5: 0.4666, loss_rl: -0.2865, loss_critic: 1.6825, loss_rl_bc: 0.0089, il_score: 0.6706, rl_score: 0.6848, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.8018, grad_norm: 43.0410, il_score_sum: 64.9980, rl_score_sum: 66.7376, score_diff: -1.7396, il_win: 76.0000, rl_win: 299.3500
2025-09-24 13:29:38,551 - mmdet - INFO - Epoch [16][2840/3517]	lr: 1.547e-05, eta: 6:25:42, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1827, debug_std_frame_0: 0.2169, debug_std_frame_1: 0.2439, debug_std_frame_2: 0.2981, debug_std_frame_3: 0.3511, debug_std_frame_4: 0.4056, debug_std_frame_5: 0.4617, loss_rl: -0.2433, loss_critic: 1.2571, loss_rl_bc: 0.0075, il_score: 0.6776, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.4330, grad_norm: 53.7907, il_score_sum: 64.9980, rl_score_sum: 66.7376, score_diff: -1.7396, il_win: 76.0000, rl_win: 299.3500
2025-09-24 13:29:54,788 - mmdet - INFO - Epoch [16][2860/3517]	lr: 1.547e-05, eta: 6:25:27, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1719, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2373, debug_std_frame_2: 0.2898, debug_std_frame_3: 0.3404, debug_std_frame_4: 0.3910, debug_std_frame_5: 0.4476, loss_rl: -0.2825, loss_critic: 1.4321, loss_rl_bc: 0.0067, il_score: 0.6648, rl_score: 0.6613, prev_frame_loss_waypoint_0: 0.1809, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.5497, grad_norm: 55.8345, il_score_sum: 65.1344, rl_score_sum: 66.8561, score_diff: -1.7217, il_win: 76.0000, rl_win: 300.2000
2025-09-24 13:30:10,857 - mmdet - INFO - Epoch [16][2880/3517]	lr: 1.547e-05, eta: 6:25:10, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1559, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2397, debug_std_frame_2: 0.2969, debug_std_frame_3: 0.3509, debug_std_frame_4: 0.4060, debug_std_frame_5: 0.4643, loss_rl: -0.2637, loss_critic: 1.3743, loss_rl_bc: 0.0045, il_score: 0.6653, rl_score: 0.6927, prev_frame_loss_waypoint_0: 0.1842, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.4892, grad_norm: 53.8191, il_score_sum: 65.1344, rl_score_sum: 66.8561, score_diff: -1.7217, il_win: 76.0000, rl_win: 300.2000
2025-09-24 13:30:26,836 - mmdet - INFO - Epoch [16][2900/3517]	lr: 1.547e-05, eta: 6:24:54, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1878, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2363, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3494, debug_std_frame_4: 0.4054, debug_std_frame_5: 0.4622, loss_rl: -0.2259, loss_critic: 1.2733, loss_rl_bc: 0.0131, il_score: 0.6395, rl_score: 0.6668, prev_frame_loss_waypoint_0: 0.1876, prev_frame_loss_rl_bc_0: 0.0157, loss: 1.4791, grad_norm: 40.9836, il_score_sum: 65.1344, rl_score_sum: 66.8561, score_diff: -1.7217, il_win: 76.0000, rl_win: 300.2000
2025-09-24 13:30:42,796 - mmdet - INFO - Epoch [16][2920/3517]	lr: 1.547e-05, eta: 6:24:38, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1928, debug_std_frame_0: 0.2175, debug_std_frame_1: 0.2440, debug_std_frame_2: 0.2988, debug_std_frame_3: 0.3541, debug_std_frame_4: 0.4114, debug_std_frame_5: 0.4737, loss_rl: -0.2032, loss_critic: 1.0260, loss_rl_bc: 0.0124, il_score: 0.6595, rl_score: 0.6504, prev_frame_loss_waypoint_0: 0.2006, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.2706, grad_norm: 44.5556, il_score_sum: 65.1344, rl_score_sum: 66.8561, score_diff: -1.7217, il_win: 76.0000, rl_win: 300.2000
2025-09-24 13:30:59,052 - mmdet - INFO - Epoch [16][2940/3517]	lr: 1.547e-05, eta: 6:24:22, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1678, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2473, debug_std_frame_2: 0.3035, debug_std_frame_3: 0.3615, debug_std_frame_4: 0.4219, debug_std_frame_5: 0.4851, loss_rl: -0.2580, loss_critic: 1.4235, loss_rl_bc: 0.0086, il_score: 0.6295, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.5482, grad_norm: 43.3205, il_score_sum: 65.1344, rl_score_sum: 66.8561, score_diff: -1.7217, il_win: 76.0000, rl_win: 300.2000
2025-09-24 13:31:15,274 - mmdet - INFO - Epoch [16][2960/3517]	lr: 1.547e-05, eta: 6:24:06, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1987, debug_std_frame_0: 0.2175, debug_std_frame_1: 0.2438, debug_std_frame_2: 0.2965, debug_std_frame_3: 0.3560, debug_std_frame_4: 0.4204, debug_std_frame_5: 0.4852, loss_rl: -0.1837, loss_critic: 1.4488, loss_rl_bc: 0.0152, il_score: 0.6340, rl_score: 0.6659, prev_frame_loss_waypoint_0: 0.1977, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.7154, grad_norm: 67.4874, il_score_sum: 65.1779, rl_score_sum: 66.8519, score_diff: -1.6741, il_win: 76.0000, rl_win: 301.0500
2025-09-24 13:31:31,538 - mmdet - INFO - Epoch [16][2980/3517]	lr: 1.547e-05, eta: 6:23:50, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1978, debug_std_frame_0: 0.2183, debug_std_frame_1: 0.2450, debug_std_frame_2: 0.2976, debug_std_frame_3: 0.3532, debug_std_frame_4: 0.4113, debug_std_frame_5: 0.4743, loss_rl: -0.2508, loss_critic: 1.3941, loss_rl_bc: 0.0128, il_score: 0.6339, rl_score: 0.6796, prev_frame_loss_waypoint_0: 0.2094, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.6012, grad_norm: 60.2598, il_score_sum: 65.1779, rl_score_sum: 66.8519, score_diff: -1.6741, il_win: 76.0000, rl_win: 301.0500
2025-09-24 13:31:47,559 - mmdet - INFO - Epoch [16][3000/3517]	lr: 1.547e-05, eta: 6:23:34, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.2162, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2453, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3570, debug_std_frame_4: 0.4190, debug_std_frame_5: 0.4829, loss_rl: -0.2688, loss_critic: 1.1030, loss_rl_bc: 0.0145, il_score: 0.6536, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.2208, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.3277, grad_norm: 50.4221, il_score_sum: 65.1779, rl_score_sum: 66.8519, score_diff: -1.6741, il_win: 76.0000, rl_win: 301.0500
2025-09-24 13:32:03,572 - mmdet - INFO - Epoch [16][3020/3517]	lr: 1.547e-05, eta: 6:23:18, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1724, debug_std_frame_0: 0.2172, debug_std_frame_1: 0.2447, debug_std_frame_2: 0.2975, debug_std_frame_3: 0.3567, debug_std_frame_4: 0.4177, debug_std_frame_5: 0.4798, loss_rl: -0.2416, loss_critic: 1.3475, loss_rl_bc: 0.0124, il_score: 0.6355, rl_score: 0.6451, prev_frame_loss_waypoint_0: 0.1968, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.5309, grad_norm: 40.8447, il_score_sum: 65.1779, rl_score_sum: 66.8519, score_diff: -1.6741, il_win: 76.0000, rl_win: 301.0500
2025-09-24 13:32:19,502 - mmdet - INFO - Epoch [16][3040/3517]	lr: 1.547e-05, eta: 6:23:02, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1710, debug_std_frame_0: 0.2204, debug_std_frame_1: 0.2577, debug_std_frame_2: 0.3191, debug_std_frame_3: 0.3862, debug_std_frame_4: 0.4519, debug_std_frame_5: 0.5162, loss_rl: -0.2412, loss_critic: 1.3316, loss_rl_bc: 0.0099, il_score: 0.6837, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.4912, grad_norm: 42.9849, il_score_sum: 65.1779, rl_score_sum: 66.8519, score_diff: -1.6741, il_win: 76.0000, rl_win: 301.0500
2025-09-24 13:32:35,679 - mmdet - INFO - Epoch [16][3060/3517]	lr: 1.547e-05, eta: 6:22:46, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1655, debug_std_frame_0: 0.2166, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2968, debug_std_frame_3: 0.3520, debug_std_frame_4: 0.4110, debug_std_frame_5: 0.4708, loss_rl: -0.2998, loss_critic: 1.2194, loss_rl_bc: 0.0053, il_score: 0.6812, rl_score: 0.7126, prev_frame_loss_waypoint_0: 0.1691, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.2897, grad_norm: 58.4326, il_score_sum: 65.0974, rl_score_sum: 66.8835, score_diff: -1.7860, il_win: 76.0000, rl_win: 301.9500
2025-09-24 13:32:51,608 - mmdet - INFO - Epoch [16][3080/3517]	lr: 1.547e-05, eta: 6:22:30, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1832, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2398, debug_std_frame_2: 0.2878, debug_std_frame_3: 0.3422, debug_std_frame_4: 0.3974, debug_std_frame_5: 0.4546, loss_rl: -0.2713, loss_critic: 1.5037, loss_rl_bc: 0.0130, il_score: 0.6266, rl_score: 0.6466, prev_frame_loss_waypoint_0: 0.1886, prev_frame_loss_rl_bc_0: 0.0110, loss: 1.6549, grad_norm: 56.6723, il_score_sum: 65.0974, rl_score_sum: 66.8835, score_diff: -1.7860, il_win: 76.0000, rl_win: 301.9500
2025-09-24 13:33:07,575 - mmdet - INFO - Epoch [16][3100/3517]	lr: 1.547e-05, eta: 6:22:14, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1461, debug_std_frame_0: 0.2146, debug_std_frame_1: 0.2396, debug_std_frame_2: 0.2909, debug_std_frame_3: 0.3492, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4729, loss_rl: -0.2817, loss_critic: 1.4678, loss_rl_bc: 0.0020, il_score: 0.6667, rl_score: 0.6901, prev_frame_loss_waypoint_0: 0.1672, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.5350, grad_norm: 43.3840, il_score_sum: 65.0974, rl_score_sum: 66.8835, score_diff: -1.7860, il_win: 76.0000, rl_win: 301.9500
2025-09-24 13:33:23,547 - mmdet - INFO - Epoch [16][3120/3517]	lr: 1.547e-05, eta: 6:21:58, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1732, debug_std_frame_0: 0.2183, debug_std_frame_1: 0.2434, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4453, loss_rl: -0.2576, loss_critic: 1.6115, loss_rl_bc: 0.0069, il_score: 0.6362, rl_score: 0.6667, prev_frame_loss_waypoint_0: 0.2151, prev_frame_loss_rl_bc_0: 0.0166, loss: 1.7920, grad_norm: 57.8423, il_score_sum: 65.0974, rl_score_sum: 66.8835, score_diff: -1.7860, il_win: 76.0000, rl_win: 301.9500
2025-09-24 13:33:39,316 - mmdet - INFO - Epoch [16][3140/3517]	lr: 1.547e-05, eta: 6:21:41, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1886, debug_std_frame_0: 0.2157, debug_std_frame_1: 0.2400, debug_std_frame_2: 0.2872, debug_std_frame_3: 0.3412, debug_std_frame_4: 0.3962, debug_std_frame_5: 0.4543, loss_rl: -0.2162, loss_critic: 1.3315, loss_rl_bc: 0.0110, il_score: 0.6483, rl_score: 0.6628, prev_frame_loss_waypoint_0: 0.1935, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.5450, grad_norm: 59.9013, il_score_sum: 65.0974, rl_score_sum: 66.8835, score_diff: -1.7860, il_win: 76.0000, rl_win: 301.9500
2025-09-24 13:33:55,294 - mmdet - INFO - Epoch [16][3160/3517]	lr: 1.547e-05, eta: 6:21:25, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1923, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2521, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3597, debug_std_frame_4: 0.4151, debug_std_frame_5: 0.4699, loss_rl: -0.2454, loss_critic: 1.4415, loss_rl_bc: 0.0519, il_score: 0.6732, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.2172, prev_frame_loss_rl_bc_0: 0.0388, loss: 1.7228, grad_norm: 64.3151, il_score_sum: 65.1020, rl_score_sum: 66.9238, score_diff: -1.8218, il_win: 76.0000, rl_win: 302.8500
2025-09-24 13:34:11,410 - mmdet - INFO - Epoch [16][3180/3517]	lr: 1.547e-05, eta: 6:21:09, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1775, debug_std_frame_0: 0.2202, debug_std_frame_1: 0.2529, debug_std_frame_2: 0.3007, debug_std_frame_3: 0.3557, debug_std_frame_4: 0.4067, debug_std_frame_5: 0.4608, loss_rl: -0.2861, loss_critic: 1.4145, loss_rl_bc: 0.0074, il_score: 0.6484, rl_score: 0.6766, prev_frame_loss_waypoint_0: 0.1940, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.5415, grad_norm: 47.9519, il_score_sum: 65.1020, rl_score_sum: 66.9238, score_diff: -1.8218, il_win: 76.0000, rl_win: 302.8500
2025-09-24 13:34:27,414 - mmdet - INFO - Epoch [16][3200/3517]	lr: 1.547e-05, eta: 6:20:53, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1818, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2489, debug_std_frame_2: 0.2988, debug_std_frame_3: 0.3525, debug_std_frame_4: 0.4052, debug_std_frame_5: 0.4627, loss_rl: -0.2741, loss_critic: 1.4310, loss_rl_bc: 0.0090, il_score: 0.6058, rl_score: 0.6703, prev_frame_loss_waypoint_0: 0.2071, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.5949, grad_norm: 43.5175, il_score_sum: 65.1020, rl_score_sum: 66.9238, score_diff: -1.8218, il_win: 76.0000, rl_win: 302.8500
2025-09-24 13:34:43,303 - mmdet - INFO - Epoch [16][3220/3517]	lr: 1.547e-05, eta: 6:20:37, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1823, debug_std_frame_0: 0.2140, debug_std_frame_1: 0.2454, debug_std_frame_2: 0.2955, debug_std_frame_3: 0.3491, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4623, loss_rl: -0.2506, loss_critic: 1.2115, loss_rl_bc: 0.0069, il_score: 0.6835, rl_score: 0.6962, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.3727, grad_norm: 42.0458, il_score_sum: 65.1020, rl_score_sum: 66.9238, score_diff: -1.8218, il_win: 76.0000, rl_win: 302.8500
2025-09-24 13:34:59,165 - mmdet - INFO - Epoch [16][3240/3517]	lr: 1.547e-05, eta: 6:20:21, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1692, debug_std_frame_0: 0.2166, debug_std_frame_1: 0.2430, debug_std_frame_2: 0.2855, debug_std_frame_3: 0.3335, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4332, loss_rl: -0.3092, loss_critic: 1.3695, loss_rl_bc: 0.0056, il_score: 0.6725, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1757, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.4432, grad_norm: 42.4846, il_score_sum: 65.1020, rl_score_sum: 66.9238, score_diff: -1.8218, il_win: 76.0000, rl_win: 302.8500
2025-09-24 13:35:15,421 - mmdet - INFO - Epoch [16][3260/3517]	lr: 1.547e-05, eta: 6:20:05, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1683, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2386, debug_std_frame_2: 0.2829, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3923, debug_std_frame_5: 0.4427, loss_rl: -0.3150, loss_critic: 1.5954, loss_rl_bc: 0.0053, il_score: 0.6532, rl_score: 0.6933, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.6671, grad_norm: 52.1511, il_score_sum: 65.1525, rl_score_sum: 67.0035, score_diff: -1.8510, il_win: 76.0000, rl_win: 303.7500
2025-09-24 13:35:31,333 - mmdet - INFO - Epoch [16][3280/3517]	lr: 1.547e-05, eta: 6:19:49, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1781, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2353, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3453, debug_std_frame_4: 0.4031, debug_std_frame_5: 0.4593, loss_rl: -0.2467, loss_critic: 1.5168, loss_rl_bc: 0.0086, il_score: 0.6274, rl_score: 0.6649, prev_frame_loss_waypoint_0: 0.2117, prev_frame_loss_rl_bc_0: 0.0170, loss: 1.7125, grad_norm: 59.9902, il_score_sum: 65.1525, rl_score_sum: 67.0035, score_diff: -1.8510, il_win: 76.0000, rl_win: 303.7500
2025-09-24 13:35:47,327 - mmdet - INFO - Epoch [16][3300/3517]	lr: 1.547e-05, eta: 6:19:33, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1927, debug_std_frame_0: 0.2125, debug_std_frame_1: 0.2382, debug_std_frame_2: 0.2859, debug_std_frame_3: 0.3395, debug_std_frame_4: 0.3912, debug_std_frame_5: 0.4445, loss_rl: -0.2624, loss_critic: 1.1176, loss_rl_bc: 0.0130, il_score: 0.6513, rl_score: 0.6818, prev_frame_loss_waypoint_0: 0.1990, prev_frame_loss_rl_bc_0: 0.0148, loss: 1.3011, grad_norm: 56.0006, il_score_sum: 65.1525, rl_score_sum: 67.0035, score_diff: -1.8510, il_win: 76.0000, rl_win: 303.7500
2025-09-24 13:36:03,226 - mmdet - INFO - Epoch [16][3320/3517]	lr: 1.547e-05, eta: 6:19:17, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1867, debug_std_frame_0: 0.2165, debug_std_frame_1: 0.2469, debug_std_frame_2: 0.2977, debug_std_frame_3: 0.3553, debug_std_frame_4: 0.4136, debug_std_frame_5: 0.4701, loss_rl: -0.2447, loss_critic: 1.5789, loss_rl_bc: 0.0137, il_score: 0.6468, rl_score: 0.6530, prev_frame_loss_waypoint_0: 0.1907, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.7645, grad_norm: 46.6192, il_score_sum: 65.1525, rl_score_sum: 67.0035, score_diff: -1.8510, il_win: 76.0000, rl_win: 303.7500
2025-09-24 13:36:19,235 - mmdet - INFO - Epoch [16][3340/3517]	lr: 1.547e-05, eta: 6:19:00, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1816, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2451, debug_std_frame_2: 0.2984, debug_std_frame_3: 0.3542, debug_std_frame_4: 0.4085, debug_std_frame_5: 0.4662, loss_rl: -0.2057, loss_critic: 1.4063, loss_rl_bc: 0.0122, il_score: 0.6428, rl_score: 0.6215, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0185, loss: 1.6363, grad_norm: 45.0988, il_score_sum: 65.1525, rl_score_sum: 67.0035, score_diff: -1.8510, il_win: 76.0000, rl_win: 303.7500
2025-09-24 13:36:35,481 - mmdet - INFO - Epoch [16][3360/3517]	lr: 1.547e-05, eta: 6:18:44, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1611, debug_std_frame_0: 0.2180, debug_std_frame_1: 0.2545, debug_std_frame_2: 0.3090, debug_std_frame_3: 0.3653, debug_std_frame_4: 0.4185, debug_std_frame_5: 0.4733, loss_rl: -0.2798, loss_critic: 1.1844, loss_rl_bc: 0.0051, il_score: 0.7044, rl_score: 0.7161, prev_frame_loss_waypoint_0: 0.1916, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.3020, grad_norm: 50.0253, il_score_sum: 65.1568, rl_score_sum: 66.9793, score_diff: -1.8225, il_win: 76.0000, rl_win: 304.6500
2025-09-24 13:36:51,465 - mmdet - INFO - Epoch [16][3380/3517]	lr: 1.547e-05, eta: 6:18:28, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1795, debug_std_frame_0: 0.2167, debug_std_frame_1: 0.2508, debug_std_frame_2: 0.3078, debug_std_frame_3: 0.3674, debug_std_frame_4: 0.4218, debug_std_frame_5: 0.4785, loss_rl: -0.2822, loss_critic: 1.3026, loss_rl_bc: 0.0100, il_score: 0.6525, rl_score: 0.6582, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.4551, grad_norm: 41.8683, il_score_sum: 65.1568, rl_score_sum: 66.9793, score_diff: -1.8225, il_win: 76.0000, rl_win: 304.6500
2025-09-24 13:37:07,562 - mmdet - INFO - Epoch [16][3400/3517]	lr: 1.547e-05, eta: 6:18:12, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1767, debug_std_frame_0: 0.2190, debug_std_frame_1: 0.2536, debug_std_frame_2: 0.3057, debug_std_frame_3: 0.3616, debug_std_frame_4: 0.4153, debug_std_frame_5: 0.4677, loss_rl: -0.2718, loss_critic: 1.4003, loss_rl_bc: 0.0096, il_score: 0.6652, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.5376, grad_norm: 52.8315, il_score_sum: 65.1568, rl_score_sum: 66.9793, score_diff: -1.8225, il_win: 76.0000, rl_win: 304.6500
2025-09-24 13:37:23,521 - mmdet - INFO - Epoch [16][3420/3517]	lr: 1.547e-05, eta: 6:17:56, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1788, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2541, debug_std_frame_2: 0.3118, debug_std_frame_3: 0.3714, debug_std_frame_4: 0.4308, debug_std_frame_5: 0.4898, loss_rl: -0.2290, loss_critic: 1.3796, loss_rl_bc: 0.0077, il_score: 0.6227, rl_score: 0.6475, prev_frame_loss_waypoint_0: 0.1926, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.5670, grad_norm: 58.5550, il_score_sum: 65.1568, rl_score_sum: 66.9793, score_diff: -1.8225, il_win: 76.0000, rl_win: 304.6500
2025-09-24 13:37:39,395 - mmdet - INFO - Epoch [16][3440/3517]	lr: 1.547e-05, eta: 6:17:40, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1770, debug_std_frame_0: 0.2172, debug_std_frame_1: 0.2472, debug_std_frame_2: 0.2994, debug_std_frame_3: 0.3570, debug_std_frame_4: 0.4118, debug_std_frame_5: 0.4682, loss_rl: -0.2768, loss_critic: 1.1939, loss_rl_bc: 0.0071, il_score: 0.6697, rl_score: 0.6837, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3203, grad_norm: 60.8259, il_score_sum: 65.1568, rl_score_sum: 66.9793, score_diff: -1.8225, il_win: 76.0000, rl_win: 304.6500
2025-09-24 13:37:55,451 - mmdet - INFO - Epoch [16][3460/3517]	lr: 1.547e-05, eta: 6:17:24, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1773, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2370, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3403, debug_std_frame_4: 0.3894, debug_std_frame_5: 0.4427, loss_rl: -0.2458, loss_critic: 1.3487, loss_rl_bc: 0.0145, il_score: 0.6662, rl_score: 0.6660, prev_frame_loss_waypoint_0: 0.1938, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.5317, grad_norm: 47.8509, il_score_sum: 65.2299, rl_score_sum: 67.0475, score_diff: -1.8177, il_win: 76.0000, rl_win: 305.5500
2025-09-24 13:38:11,443 - mmdet - INFO - Epoch [16][3480/3517]	lr: 1.547e-05, eta: 6:17:08, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1593, debug_std_frame_0: 0.2161, debug_std_frame_1: 0.2463, debug_std_frame_2: 0.2985, debug_std_frame_3: 0.3538, debug_std_frame_4: 0.4064, debug_std_frame_5: 0.4603, loss_rl: -0.2261, loss_critic: 1.1856, loss_rl_bc: 0.0058, il_score: 0.6610, rl_score: 0.6570, prev_frame_loss_waypoint_0: 0.1864, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.3506, grad_norm: 51.3123, il_score_sum: 65.2299, rl_score_sum: 67.0475, score_diff: -1.8177, il_win: 76.0000, rl_win: 305.5500
2025-09-24 13:38:27,409 - mmdet - INFO - Epoch [16][3500/3517]	lr: 1.547e-05, eta: 6:16:52, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1804, debug_std_frame_0: 0.2213, debug_std_frame_1: 0.2501, debug_std_frame_2: 0.2995, debug_std_frame_3: 0.3566, debug_std_frame_4: 0.4090, debug_std_frame_5: 0.4644, loss_rl: -0.2291, loss_critic: 1.4453, loss_rl_bc: 0.0144, il_score: 0.6646, rl_score: 0.6557, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0138, loss: 1.6469, grad_norm: 54.7136, il_score_sum: 65.2299, rl_score_sum: 67.0475, score_diff: -1.8177, il_win: 76.0000, rl_win: 305.5500
2025-09-24 13:38:40,734 - mmdet - INFO - Saving checkpoint at 16 epochs
2025-09-24 13:41:14,783 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 13:41:14,783 - mmdet - INFO - Epoch(val) [16][753]	plan_L2_1s: 0.5793, plan_L2_2s: 1.0104, plan_L2_3s: 1.5090, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0013, plan_obj_box_col_2s: 0.0020, plan_obj_box_col_3s: 0.0072, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.4471, plan_L2_2s_rl_actor: 0.8089, plan_L2_3s_rl_actor: 1.2526, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0091, plan_obj_box_col_2s_rl_actor: 0.0107, plan_obj_box_col_3s_rl_actor: 0.0154, fut_valid_flag_rl_actor: 1.0000
2025-09-24 13:41:39,236 - mmdet - INFO - Epoch [17][20/3517]	lr: 1.254e-05, eta: 6:16:19, time: 1.222, data_time: 0.365, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1906, debug_std_frame_0: 0.2233, debug_std_frame_1: 0.2537, debug_std_frame_2: 0.3010, debug_std_frame_3: 0.3551, debug_std_frame_4: 0.4091, debug_std_frame_5: 0.4683, loss_rl: -0.2441, loss_critic: 1.1368, loss_rl_bc: 0.0133, il_score: 0.6682, rl_score: 0.6692, prev_frame_loss_waypoint_0: 0.1922, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.3256, grad_norm: 45.5026
2025-09-24 13:41:56,246 - mmdet - INFO - Epoch [17][40/3517]	lr: 1.254e-05, eta: 6:16:04, time: 0.851, data_time: 0.015, memory: 8550, loss_rec: 0.0302, loss_waypoint: 0.1587, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2468, debug_std_frame_2: 0.2951, debug_std_frame_3: 0.3472, debug_std_frame_4: 0.3992, debug_std_frame_5: 0.4539, loss_rl: -0.2827, loss_critic: 1.3755, loss_rl_bc: 0.0037, il_score: 0.6702, rl_score: 0.6764, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.4903, grad_norm: 52.6270, il_score_sum: 66.0494, rl_score_sum: 66.1478, score_diff: -0.0984, il_win: 76.0000, rl_win: 315.0000
2025-09-24 13:42:12,996 - mmdet - INFO - Epoch [17][60/3517]	lr: 1.254e-05, eta: 6:15:48, time: 0.837, data_time: 0.014, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1868, debug_std_frame_0: 0.2219, debug_std_frame_1: 0.2506, debug_std_frame_2: 0.2952, debug_std_frame_3: 0.3484, debug_std_frame_4: 0.3989, debug_std_frame_5: 0.4545, loss_rl: -0.2555, loss_critic: 1.3454, loss_rl_bc: 0.0103, il_score: 0.6590, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.5277, grad_norm: 39.2109, il_score_sum: 66.0494, rl_score_sum: 66.1478, score_diff: -0.0984, il_win: 76.0000, rl_win: 315.0000
2025-09-24 13:42:29,534 - mmdet - INFO - Epoch [17][80/3517]	lr: 1.254e-05, eta: 6:15:32, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1751, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2470, debug_std_frame_2: 0.2943, debug_std_frame_3: 0.3485, debug_std_frame_4: 0.4032, debug_std_frame_5: 0.4607, loss_rl: -0.2197, loss_critic: 1.1460, loss_rl_bc: 0.0082, il_score: 0.6276, rl_score: 0.6620, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.3204, grad_norm: 37.3246, il_score_sum: 66.0494, rl_score_sum: 66.1478, score_diff: -0.0984, il_win: 76.0000, rl_win: 315.0000
2025-09-24 13:42:46,019 - mmdet - INFO - Epoch [17][100/3517]	lr: 1.254e-05, eta: 6:15:16, time: 0.825, data_time: 0.014, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1681, debug_std_frame_0: 0.2152, debug_std_frame_1: 0.2449, debug_std_frame_2: 0.2944, debug_std_frame_3: 0.3505, debug_std_frame_4: 0.4059, debug_std_frame_5: 0.4613, loss_rl: -0.2613, loss_critic: 1.3539, loss_rl_bc: 0.0051, il_score: 0.6487, rl_score: 0.6595, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0096, loss: 1.4947, grad_norm: 38.4092, il_score_sum: 66.0494, rl_score_sum: 66.1478, score_diff: -0.0984, il_win: 76.0000, rl_win: 315.0000
2025-09-24 13:43:02,313 - mmdet - INFO - Epoch [17][120/3517]	lr: 1.254e-05, eta: 6:15:00, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1687, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2349, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3382, debug_std_frame_4: 0.3924, debug_std_frame_5: 0.4460, loss_rl: -0.2659, loss_critic: 1.5116, loss_rl_bc: 0.0080, il_score: 0.6292, rl_score: 0.6551, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.6473, grad_norm: 49.4714, il_score_sum: 66.0494, rl_score_sum: 66.1478, score_diff: -0.0984, il_win: 76.0000, rl_win: 315.0000
2025-09-24 13:43:18,848 - mmdet - INFO - Epoch [17][140/3517]	lr: 1.254e-05, eta: 6:14:45, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1703, debug_std_frame_0: 0.2125, debug_std_frame_1: 0.2391, debug_std_frame_2: 0.2857, debug_std_frame_3: 0.3389, debug_std_frame_4: 0.3926, debug_std_frame_5: 0.4451, loss_rl: -0.2205, loss_critic: 1.1712, loss_rl_bc: 0.0084, il_score: 0.6861, rl_score: 0.6914, prev_frame_loss_waypoint_0: 0.1968, prev_frame_loss_rl_bc_0: 0.0164, loss: 1.3718, grad_norm: 39.4728, il_score_sum: 65.2904, rl_score_sum: 66.2783, score_diff: -0.9880, il_win: 76.0000, rl_win: 315.5000
2025-09-24 13:43:35,152 - mmdet - INFO - Epoch [17][160/3517]	lr: 1.254e-05, eta: 6:14:29, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1557, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2432, debug_std_frame_2: 0.2905, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.3992, debug_std_frame_5: 0.4569, loss_rl: -0.2425, loss_critic: 1.4996, loss_rl_bc: 0.0071, il_score: 0.6291, rl_score: 0.6382, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.6315, grad_norm: 48.1661, il_score_sum: 65.2904, rl_score_sum: 66.2783, score_diff: -0.9880, il_win: 76.0000, rl_win: 315.5000
2025-09-24 13:43:51,573 - mmdet - INFO - Epoch [17][180/3517]	lr: 1.254e-05, eta: 6:14:13, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1732, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2425, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3469, debug_std_frame_4: 0.4010, debug_std_frame_5: 0.4568, loss_rl: -0.2600, loss_critic: 1.1964, loss_rl_bc: 0.0075, il_score: 0.6863, rl_score: 0.7010, prev_frame_loss_waypoint_0: 0.1961, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.3501, grad_norm: 43.9959, il_score_sum: 65.2904, rl_score_sum: 66.2783, score_diff: -0.9880, il_win: 76.0000, rl_win: 315.5000
2025-09-24 13:44:07,896 - mmdet - INFO - Epoch [17][200/3517]	lr: 1.254e-05, eta: 6:13:57, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1690, debug_std_frame_0: 0.2180, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3388, debug_std_frame_4: 0.3927, debug_std_frame_5: 0.4464, loss_rl: -0.3056, loss_critic: 1.3336, loss_rl_bc: 0.0043, il_score: 0.6708, rl_score: 0.6999, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.4142, grad_norm: 44.3399, il_score_sum: 65.2904, rl_score_sum: 66.2783, score_diff: -0.9880, il_win: 76.0000, rl_win: 315.5000
2025-09-24 13:44:24,285 - mmdet - INFO - Epoch [17][220/3517]	lr: 1.254e-05, eta: 6:13:41, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.2019, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2414, debug_std_frame_2: 0.2922, debug_std_frame_3: 0.3474, debug_std_frame_4: 0.4026, debug_std_frame_5: 0.4598, loss_rl: -0.2591, loss_critic: 1.2771, loss_rl_bc: 0.0107, il_score: 0.6371, rl_score: 0.6635, prev_frame_loss_waypoint_0: 0.2092, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.4788, grad_norm: 44.6131, il_score_sum: 65.2904, rl_score_sum: 66.2783, score_diff: -0.9880, il_win: 76.0000, rl_win: 315.5000
2025-09-24 13:44:40,771 - mmdet - INFO - Epoch [17][240/3517]	lr: 1.254e-05, eta: 6:13:25, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1776, debug_std_frame_0: 0.2179, debug_std_frame_1: 0.2416, debug_std_frame_2: 0.2903, debug_std_frame_3: 0.3418, debug_std_frame_4: 0.3925, debug_std_frame_5: 0.4468, loss_rl: -0.2980, loss_critic: 1.3364, loss_rl_bc: 0.0053, il_score: 0.6824, rl_score: 0.7141, prev_frame_loss_waypoint_0: 0.1822, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.4381, grad_norm: 63.5230, il_score_sum: 65.6150, rl_score_sum: 66.9134, score_diff: -1.2984, il_win: 76.0000, rl_win: 316.0000
2025-09-24 13:44:57,090 - mmdet - INFO - Epoch [17][260/3517]	lr: 1.254e-05, eta: 6:13:09, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1626, debug_std_frame_0: 0.2153, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2897, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3910, debug_std_frame_5: 0.4472, loss_rl: -0.2546, loss_critic: 1.3824, loss_rl_bc: 0.0029, il_score: 0.6542, rl_score: 0.6854, prev_frame_loss_waypoint_0: 0.1781, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.5091, grad_norm: 50.4828, il_score_sum: 65.6150, rl_score_sum: 66.9134, score_diff: -1.2984, il_win: 76.0000, rl_win: 316.0000
2025-09-24 13:45:13,381 - mmdet - INFO - Epoch [17][280/3517]	lr: 1.254e-05, eta: 6:12:53, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1731, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2376, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3942, debug_std_frame_5: 0.4489, loss_rl: -0.2445, loss_critic: 1.4875, loss_rl_bc: 0.0142, il_score: 0.6440, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0150, loss: 1.6597, grad_norm: 49.0177, il_score_sum: 65.6150, rl_score_sum: 66.9134, score_diff: -1.2984, il_win: 76.0000, rl_win: 316.0000
2025-09-24 13:45:29,811 - mmdet - INFO - Epoch [17][300/3517]	lr: 1.254e-05, eta: 6:12:37, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1810, debug_std_frame_0: 0.2186, debug_std_frame_1: 0.2508, debug_std_frame_2: 0.3008, debug_std_frame_3: 0.3534, debug_std_frame_4: 0.4050, debug_std_frame_5: 0.4594, loss_rl: -0.2260, loss_critic: 1.5413, loss_rl_bc: 0.0166, il_score: 0.6199, rl_score: 0.6377, prev_frame_loss_waypoint_0: 0.1923, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.7469, grad_norm: 46.2085, il_score_sum: 65.6150, rl_score_sum: 66.9134, score_diff: -1.2984, il_win: 76.0000, rl_win: 316.0000
2025-09-24 13:45:46,000 - mmdet - INFO - Epoch [17][320/3517]	lr: 1.254e-05, eta: 6:12:21, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1860, debug_std_frame_0: 0.2225, debug_std_frame_1: 0.2547, debug_std_frame_2: 0.3073, debug_std_frame_3: 0.3640, debug_std_frame_4: 0.4185, debug_std_frame_5: 0.4768, loss_rl: -0.2357, loss_critic: 1.3116, loss_rl_bc: 0.0147, il_score: 0.6891, rl_score: 0.6746, prev_frame_loss_waypoint_0: 0.2198, prev_frame_loss_rl_bc_0: 0.0216, loss: 1.5465, grad_norm: 49.9023, il_score_sum: 65.6150, rl_score_sum: 66.9134, score_diff: -1.2984, il_win: 76.0000, rl_win: 316.0000
2025-09-24 13:46:02,487 - mmdet - INFO - Epoch [17][340/3517]	lr: 1.254e-05, eta: 6:12:05, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1623, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2489, debug_std_frame_2: 0.2998, debug_std_frame_3: 0.3518, debug_std_frame_4: 0.4008, debug_std_frame_5: 0.4507, loss_rl: -0.2712, loss_critic: 1.3874, loss_rl_bc: 0.0076, il_score: 0.6820, rl_score: 0.6921, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.5006, grad_norm: 42.1621, il_score_sum: 65.7496, rl_score_sum: 67.1003, score_diff: -1.3507, il_win: 76.0000, rl_win: 316.5000
2025-09-24 13:46:18,981 - mmdet - INFO - Epoch [17][360/3517]	lr: 1.254e-05, eta: 6:11:50, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1811, debug_std_frame_0: 0.2193, debug_std_frame_1: 0.2510, debug_std_frame_2: 0.3039, debug_std_frame_3: 0.3592, debug_std_frame_4: 0.4149, debug_std_frame_5: 0.4753, loss_rl: -0.2121, loss_critic: 1.2448, loss_rl_bc: 0.0080, il_score: 0.6209, rl_score: 0.6550, prev_frame_loss_waypoint_0: 0.1947, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.4554, grad_norm: 54.0333, il_score_sum: 65.7496, rl_score_sum: 67.1003, score_diff: -1.3507, il_win: 76.0000, rl_win: 316.5000
2025-09-24 13:46:35,362 - mmdet - INFO - Epoch [17][380/3517]	lr: 1.254e-05, eta: 6:11:34, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1720, debug_std_frame_0: 0.2146, debug_std_frame_1: 0.2464, debug_std_frame_2: 0.2961, debug_std_frame_3: 0.3500, debug_std_frame_4: 0.4029, debug_std_frame_5: 0.4611, loss_rl: -0.2855, loss_critic: 1.5037, loss_rl_bc: 0.0092, il_score: 0.6769, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.6163, grad_norm: 40.3382, il_score_sum: 65.7496, rl_score_sum: 67.1003, score_diff: -1.3507, il_win: 76.0000, rl_win: 316.5000
2025-09-24 13:46:51,832 - mmdet - INFO - Epoch [17][400/3517]	lr: 1.254e-05, eta: 6:11:18, time: 0.824, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1824, debug_std_frame_0: 0.2136, debug_std_frame_1: 0.2412, debug_std_frame_2: 0.2875, debug_std_frame_3: 0.3435, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4497, loss_rl: -0.2484, loss_critic: 1.3433, loss_rl_bc: 0.0136, il_score: 0.6752, rl_score: 0.6766, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.5149, grad_norm: 58.8282, il_score_sum: 65.7496, rl_score_sum: 67.1003, score_diff: -1.3507, il_win: 76.0000, rl_win: 316.5000
2025-09-24 13:47:08,369 - mmdet - INFO - Epoch [17][420/3517]	lr: 1.254e-05, eta: 6:11:02, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1653, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2391, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3848, debug_std_frame_5: 0.4381, loss_rl: -0.2053, loss_critic: 1.6462, loss_rl_bc: 0.0106, il_score: 0.6183, rl_score: 0.6082, prev_frame_loss_waypoint_0: 0.1621, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.8165, grad_norm: 57.6831, il_score_sum: 65.7496, rl_score_sum: 67.1003, score_diff: -1.3507, il_win: 76.0000, rl_win: 316.5000
2025-09-24 13:47:24,805 - mmdet - INFO - Epoch [17][440/3517]	lr: 1.254e-05, eta: 6:10:46, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1685, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2411, debug_std_frame_2: 0.2904, debug_std_frame_3: 0.3418, debug_std_frame_4: 0.3928, debug_std_frame_5: 0.4477, loss_rl: -0.2308, loss_critic: 1.7778, loss_rl_bc: 0.0101, il_score: 0.6241, rl_score: 0.6367, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.9420, grad_norm: 54.9886, il_score_sum: 65.4938, rl_score_sum: 66.7504, score_diff: -1.2566, il_win: 76.0000, rl_win: 316.8000
2025-09-24 13:47:40,933 - mmdet - INFO - Epoch [17][460/3517]	lr: 1.254e-05, eta: 6:10:30, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1598, debug_std_frame_0: 0.2187, debug_std_frame_1: 0.2442, debug_std_frame_2: 0.2909, debug_std_frame_3: 0.3448, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4535, loss_rl: -0.2443, loss_critic: 1.4306, loss_rl_bc: 0.0086, il_score: 0.6547, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.1678, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.5600, grad_norm: 50.4234, il_score_sum: 65.4938, rl_score_sum: 66.7504, score_diff: -1.2566, il_win: 76.0000, rl_win: 316.8000
2025-09-24 13:47:57,060 - mmdet - INFO - Epoch [17][480/3517]	lr: 1.254e-05, eta: 6:10:14, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1677, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2359, debug_std_frame_2: 0.2840, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3879, debug_std_frame_5: 0.4400, loss_rl: -0.2861, loss_critic: 1.4143, loss_rl_bc: 0.0034, il_score: 0.6812, rl_score: 0.6931, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.5140, grad_norm: 31.6268, il_score_sum: 65.4938, rl_score_sum: 66.7504, score_diff: -1.2566, il_win: 76.0000, rl_win: 316.8000
2025-09-24 13:48:13,058 - mmdet - INFO - Epoch [17][500/3517]	lr: 1.254e-05, eta: 6:09:58, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0299, loss_waypoint: 0.1779, debug_std_frame_0: 0.2152, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2859, debug_std_frame_3: 0.3336, debug_std_frame_4: 0.3832, debug_std_frame_5: 0.4365, loss_rl: -0.2368, loss_critic: 1.3741, loss_rl_bc: 0.0088, il_score: 0.6505, rl_score: 0.6485, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.5392, grad_norm: 53.8292, il_score_sum: 65.4938, rl_score_sum: 66.7504, score_diff: -1.2566, il_win: 76.0000, rl_win: 316.8000
2025-09-24 13:48:29,292 - mmdet - INFO - Epoch [17][520/3517]	lr: 1.254e-05, eta: 6:09:42, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1818, debug_std_frame_0: 0.2169, debug_std_frame_1: 0.2428, debug_std_frame_2: 0.2926, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.3991, debug_std_frame_5: 0.4598, loss_rl: -0.2400, loss_critic: 1.5286, loss_rl_bc: 0.0078, il_score: 0.6490, rl_score: 0.6655, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.6997, grad_norm: 48.8756, il_score_sum: 65.4938, rl_score_sum: 66.7504, score_diff: -1.2566, il_win: 76.0000, rl_win: 316.8000
2025-09-24 13:48:45,626 - mmdet - INFO - Epoch [17][540/3517]	lr: 1.254e-05, eta: 6:09:26, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1787, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2381, debug_std_frame_2: 0.2851, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3927, debug_std_frame_5: 0.4461, loss_rl: -0.2819, loss_critic: 1.1565, loss_rl_bc: 0.0063, il_score: 0.6888, rl_score: 0.7039, prev_frame_loss_waypoint_0: 0.1989, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.2951, grad_norm: 38.0691, il_score_sum: 65.5842, rl_score_sum: 66.8775, score_diff: -1.2932, il_win: 76.0000, rl_win: 317.1667
2025-09-24 13:49:01,761 - mmdet - INFO - Epoch [17][560/3517]	lr: 1.254e-05, eta: 6:09:10, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0301, loss_waypoint: 0.1581, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2314, debug_std_frame_2: 0.2720, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4299, loss_rl: -0.3053, loss_critic: 1.3248, loss_rl_bc: 0.0049, il_score: 0.6639, rl_score: 0.6878, prev_frame_loss_waypoint_0: 0.1817, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.3995, grad_norm: 51.5853, il_score_sum: 65.5842, rl_score_sum: 66.8775, score_diff: -1.2932, il_win: 76.0000, rl_win: 317.1667
2025-09-24 13:49:17,728 - mmdet - INFO - Epoch [17][580/3517]	lr: 1.254e-05, eta: 6:08:54, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1653, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2332, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3784, debug_std_frame_5: 0.4337, loss_rl: -0.2987, loss_critic: 1.3615, loss_rl_bc: 0.0029, il_score: 0.6657, rl_score: 0.6922, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.4456, grad_norm: 37.9088, il_score_sum: 65.5842, rl_score_sum: 66.8775, score_diff: -1.2932, il_win: 76.0000, rl_win: 317.1667
2025-09-24 13:49:33,917 - mmdet - INFO - Epoch [17][600/3517]	lr: 1.254e-05, eta: 6:08:38, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1796, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2349, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3870, debug_std_frame_5: 0.4428, loss_rl: -0.2508, loss_critic: 1.5140, loss_rl_bc: 0.0085, il_score: 0.6419, rl_score: 0.6684, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.6678, grad_norm: 32.6384, il_score_sum: 65.5842, rl_score_sum: 66.8775, score_diff: -1.2932, il_win: 76.0000, rl_win: 317.1667
2025-09-24 13:49:50,131 - mmdet - INFO - Epoch [17][620/3517]	lr: 1.254e-05, eta: 6:08:22, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1749, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2350, debug_std_frame_2: 0.2817, debug_std_frame_3: 0.3338, debug_std_frame_4: 0.3864, debug_std_frame_5: 0.4451, loss_rl: -0.2501, loss_critic: 1.2980, loss_rl_bc: 0.0062, il_score: 0.6528, rl_score: 0.6824, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.4601, grad_norm: 60.4779, il_score_sum: 65.5842, rl_score_sum: 66.8775, score_diff: -1.2932, il_win: 76.0000, rl_win: 317.1667
2025-09-24 13:50:06,697 - mmdet - INFO - Epoch [17][640/3517]	lr: 1.254e-05, eta: 6:08:06, time: 0.829, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1866, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2348, debug_std_frame_2: 0.2873, debug_std_frame_3: 0.3445, debug_std_frame_4: 0.4001, debug_std_frame_5: 0.4583, loss_rl: -0.2464, loss_critic: 1.3549, loss_rl_bc: 0.0113, il_score: 0.6300, rl_score: 0.6544, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.5352, grad_norm: 52.1653, il_score_sum: 65.6096, rl_score_sum: 67.1150, score_diff: -1.5054, il_win: 76.0000, rl_win: 317.5714
2025-09-24 13:50:23,081 - mmdet - INFO - Epoch [17][660/3517]	lr: 1.254e-05, eta: 6:07:50, time: 0.819, data_time: 0.011, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1738, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2339, debug_std_frame_2: 0.2808, debug_std_frame_3: 0.3326, debug_std_frame_4: 0.3846, debug_std_frame_5: 0.4382, loss_rl: -0.2563, loss_critic: 1.4841, loss_rl_bc: 0.0067, il_score: 0.6535, rl_score: 0.6608, prev_frame_loss_waypoint_0: 0.1577, prev_frame_loss_rl_bc_0: 0.0011, loss: 1.5951, grad_norm: 38.9351, il_score_sum: 65.6096, rl_score_sum: 67.1150, score_diff: -1.5054, il_win: 76.0000, rl_win: 317.5714
2025-09-24 13:50:39,468 - mmdet - INFO - Epoch [17][680/3517]	lr: 1.254e-05, eta: 6:07:34, time: 0.819, data_time: 0.011, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1584, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2355, debug_std_frame_2: 0.2858, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3965, debug_std_frame_5: 0.4587, loss_rl: -0.2732, loss_critic: 1.1168, loss_rl_bc: 0.0027, il_score: 0.6853, rl_score: 0.6754, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.2118, grad_norm: 37.8822, il_score_sum: 65.6096, rl_score_sum: 67.1150, score_diff: -1.5054, il_win: 76.0000, rl_win: 317.5714
2025-09-24 13:50:55,762 - mmdet - INFO - Epoch [17][700/3517]	lr: 1.254e-05, eta: 6:07:18, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1858, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2293, debug_std_frame_2: 0.2774, debug_std_frame_3: 0.3311, debug_std_frame_4: 0.3837, debug_std_frame_5: 0.4434, loss_rl: -0.2334, loss_critic: 1.1862, loss_rl_bc: 0.0157, il_score: 0.6606, rl_score: 0.6736, prev_frame_loss_waypoint_0: 0.1918, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3828, grad_norm: 39.7302, il_score_sum: 65.6096, rl_score_sum: 67.1150, score_diff: -1.5054, il_win: 76.0000, rl_win: 317.5714
2025-09-24 13:51:11,794 - mmdet - INFO - Epoch [17][720/3517]	lr: 1.254e-05, eta: 6:07:02, time: 0.801, data_time: 0.010, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1551, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3270, debug_std_frame_4: 0.3814, debug_std_frame_5: 0.4414, loss_rl: -0.2838, loss_critic: 1.3062, loss_rl_bc: 0.0027, il_score: 0.6789, rl_score: 0.7044, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.3974, grad_norm: 39.4508, il_score_sum: 65.6096, rl_score_sum: 67.1150, score_diff: -1.5054, il_win: 76.0000, rl_win: 317.5714
2025-09-24 13:51:28,038 - mmdet - INFO - Epoch [17][740/3517]	lr: 1.254e-05, eta: 6:06:46, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.2087, debug_std_frame_0: 0.2163, debug_std_frame_1: 0.2393, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3446, debug_std_frame_4: 0.4013, debug_std_frame_5: 0.4654, loss_rl: -0.2202, loss_critic: 1.4098, loss_rl_bc: 0.0174, il_score: 0.6392, rl_score: 0.6506, prev_frame_loss_waypoint_0: 0.2211, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.6785, grad_norm: 81.1379, il_score_sum: 65.6310, rl_score_sum: 67.0649, score_diff: -1.4339, il_win: 76.0000, rl_win: 317.8750
2025-09-24 13:51:44,250 - mmdet - INFO - Epoch [17][760/3517]	lr: 1.254e-05, eta: 6:06:30, time: 0.810, data_time: 0.010, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1690, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2343, debug_std_frame_2: 0.2818, debug_std_frame_3: 0.3346, debug_std_frame_4: 0.3881, debug_std_frame_5: 0.4472, loss_rl: -0.2506, loss_critic: 1.5292, loss_rl_bc: 0.0105, il_score: 0.6657, rl_score: 0.6813, prev_frame_loss_waypoint_0: 0.1732, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.6610, grad_norm: 54.4544, il_score_sum: 65.6310, rl_score_sum: 67.0649, score_diff: -1.4339, il_win: 76.0000, rl_win: 317.8750
2025-09-24 13:52:00,411 - mmdet - INFO - Epoch [17][780/3517]	lr: 1.254e-05, eta: 6:06:14, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1527, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3355, debug_std_frame_4: 0.3903, debug_std_frame_5: 0.4470, loss_rl: -0.2581, loss_critic: 1.2926, loss_rl_bc: 0.0038, il_score: 0.6536, rl_score: 0.6628, prev_frame_loss_waypoint_0: 0.1906, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.4199, grad_norm: 37.1740, il_score_sum: 65.6310, rl_score_sum: 67.0649, score_diff: -1.4339, il_win: 76.0000, rl_win: 317.8750
2025-09-24 13:52:16,500 - mmdet - INFO - Epoch [17][800/3517]	lr: 1.254e-05, eta: 6:05:58, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1888, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2368, debug_std_frame_2: 0.2860, debug_std_frame_3: 0.3453, debug_std_frame_4: 0.4032, debug_std_frame_5: 0.4646, loss_rl: -0.2207, loss_critic: 1.1862, loss_rl_bc: 0.0101, il_score: 0.6739, rl_score: 0.6705, prev_frame_loss_waypoint_0: 0.1999, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.4057, grad_norm: 56.8619, il_score_sum: 65.6310, rl_score_sum: 67.0649, score_diff: -1.4339, il_win: 76.0000, rl_win: 317.8750
2025-09-24 13:52:32,526 - mmdet - INFO - Epoch [17][820/3517]	lr: 1.254e-05, eta: 6:05:42, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1785, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.2891, debug_std_frame_3: 0.3418, debug_std_frame_4: 0.3953, debug_std_frame_5: 0.4530, loss_rl: -0.2783, loss_critic: 1.3762, loss_rl_bc: 0.0070, il_score: 0.6719, rl_score: 0.7070, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.5033, grad_norm: 46.5990, il_score_sum: 65.6310, rl_score_sum: 67.0649, score_diff: -1.4339, il_win: 76.0000, rl_win: 317.8750
2025-09-24 13:52:48,892 - mmdet - INFO - Epoch [17][840/3517]	lr: 1.254e-05, eta: 6:05:26, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1725, debug_std_frame_0: 0.2191, debug_std_frame_1: 0.2449, debug_std_frame_2: 0.2892, debug_std_frame_3: 0.3400, debug_std_frame_4: 0.3939, debug_std_frame_5: 0.4525, loss_rl: -0.2920, loss_critic: 1.2283, loss_rl_bc: 0.0073, il_score: 0.6496, rl_score: 0.6764, prev_frame_loss_waypoint_0: 0.1897, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.3454, grad_norm: 47.6298, il_score_sum: 65.7596, rl_score_sum: 67.1915, score_diff: -1.4319, il_win: 76.0000, rl_win: 318.2222
2025-09-24 13:53:05,033 - mmdet - INFO - Epoch [17][860/3517]	lr: 1.254e-05, eta: 6:05:10, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1712, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2390, debug_std_frame_2: 0.2878, debug_std_frame_3: 0.3417, debug_std_frame_4: 0.3983, debug_std_frame_5: 0.4552, loss_rl: -0.2490, loss_critic: 1.1497, loss_rl_bc: 0.0062, il_score: 0.6754, rl_score: 0.6928, prev_frame_loss_waypoint_0: 0.1784, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.2916, grad_norm: 37.9340, il_score_sum: 65.7596, rl_score_sum: 67.1915, score_diff: -1.4319, il_win: 76.0000, rl_win: 318.2222
2025-09-24 13:53:21,095 - mmdet - INFO - Epoch [17][880/3517]	lr: 1.254e-05, eta: 6:04:54, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1831, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2803, debug_std_frame_3: 0.3320, debug_std_frame_4: 0.3865, debug_std_frame_5: 0.4424, loss_rl: -0.2682, loss_critic: 1.0621, loss_rl_bc: 0.0044, il_score: 0.6723, rl_score: 0.6998, prev_frame_loss_waypoint_0: 0.1842, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.1974, grad_norm: 45.5987, il_score_sum: 65.7596, rl_score_sum: 67.1915, score_diff: -1.4319, il_win: 76.0000, rl_win: 318.2222
2025-09-24 13:53:37,117 - mmdet - INFO - Epoch [17][900/3517]	lr: 1.254e-05, eta: 6:04:38, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1879, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2785, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4428, loss_rl: -0.2114, loss_critic: 1.4785, loss_rl_bc: 0.0127, il_score: 0.6161, rl_score: 0.6474, prev_frame_loss_waypoint_0: 0.1972, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.7015, grad_norm: 54.1936, il_score_sum: 65.7596, rl_score_sum: 67.1915, score_diff: -1.4319, il_win: 76.0000, rl_win: 318.2222
2025-09-24 13:53:53,352 - mmdet - INFO - Epoch [17][920/3517]	lr: 1.254e-05, eta: 6:04:22, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1714, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2377, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3350, debug_std_frame_4: 0.3891, debug_std_frame_5: 0.4480, loss_rl: -0.2285, loss_critic: 1.4461, loss_rl_bc: 0.0133, il_score: 0.6585, rl_score: 0.6707, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6099, grad_norm: 38.5152, il_score_sum: 65.7596, rl_score_sum: 67.1915, score_diff: -1.4319, il_win: 76.0000, rl_win: 318.2222
2025-09-24 13:54:09,650 - mmdet - INFO - Epoch [17][940/3517]	lr: 1.254e-05, eta: 6:04:06, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1660, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2374, debug_std_frame_2: 0.2795, debug_std_frame_3: 0.3296, debug_std_frame_4: 0.3818, debug_std_frame_5: 0.4361, loss_rl: -0.2683, loss_critic: 1.3327, loss_rl_bc: 0.0085, il_score: 0.6473, rl_score: 0.6559, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4473, grad_norm: 47.4178, il_score_sum: 65.7069, rl_score_sum: 67.2310, score_diff: -1.5242, il_win: 76.0000, rl_win: 318.6000
2025-09-24 13:54:25,621 - mmdet - INFO - Epoch [17][960/3517]	lr: 1.254e-05, eta: 6:03:50, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1435, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2332, debug_std_frame_2: 0.2745, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3727, debug_std_frame_5: 0.4267, loss_rl: -0.2537, loss_critic: 1.2091, loss_rl_bc: 0.0004, il_score: 0.6626, rl_score: 0.6744, prev_frame_loss_waypoint_0: 0.1573, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.2846, grad_norm: 33.1455, il_score_sum: 65.7069, rl_score_sum: 67.2310, score_diff: -1.5242, il_win: 76.0000, rl_win: 318.6000
2025-09-24 13:54:41,575 - mmdet - INFO - Epoch [17][980/3517]	lr: 1.254e-05, eta: 6:03:34, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1583, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2270, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3674, debug_std_frame_5: 0.4224, loss_rl: -0.2681, loss_critic: 1.0383, loss_rl_bc: 0.0030, il_score: 0.6715, rl_score: 0.6843, prev_frame_loss_waypoint_0: 0.1650, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.1261, grad_norm: 42.6100, il_score_sum: 65.7069, rl_score_sum: 67.2310, score_diff: -1.5242, il_win: 76.0000, rl_win: 318.6000
2025-09-24 13:54:57,760 - mmdet - INFO - Epoch [17][1000/3517]	lr: 1.254e-05, eta: 6:03:18, time: 0.809, data_time: 0.010, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1490, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2643, debug_std_frame_3: 0.3111, debug_std_frame_4: 0.3590, debug_std_frame_5: 0.4111, loss_rl: -0.2628, loss_critic: 1.6429, loss_rl_bc: 0.0012, il_score: 0.6632, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1666, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.7273, grad_norm: 39.8885, il_score_sum: 65.7069, rl_score_sum: 67.2310, score_diff: -1.5242, il_win: 76.0000, rl_win: 318.6000
2025-09-24 13:55:13,846 - mmdet - INFO - Epoch [17][1020/3517]	lr: 1.254e-05, eta: 6:03:02, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1507, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2641, debug_std_frame_3: 0.3122, debug_std_frame_4: 0.3624, debug_std_frame_5: 0.4168, loss_rl: -0.3188, loss_critic: 1.4229, loss_rl_bc: 0.0000, il_score: 0.6673, rl_score: 0.7088, prev_frame_loss_waypoint_0: 0.1654, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.4500, grad_norm: 38.9047, il_score_sum: 65.7069, rl_score_sum: 67.2310, score_diff: -1.5242, il_win: 76.0000, rl_win: 318.6000
2025-09-24 13:55:29,920 - mmdet - INFO - Epoch [17][1040/3517]	lr: 1.254e-05, eta: 6:02:46, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1591, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2279, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3197, debug_std_frame_4: 0.3715, debug_std_frame_5: 0.4262, loss_rl: -0.2844, loss_critic: 1.5456, loss_rl_bc: 0.0039, il_score: 0.6683, rl_score: 0.6856, prev_frame_loss_waypoint_0: 0.1655, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.6191, grad_norm: 49.8437, il_score_sum: 65.7410, rl_score_sum: 67.2703, score_diff: -1.5294, il_win: 76.0000, rl_win: 319.0000
2025-09-24 13:55:45,797 - mmdet - INFO - Epoch [17][1060/3517]	lr: 1.254e-05, eta: 6:02:29, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1738, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2716, debug_std_frame_3: 0.3238, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4335, loss_rl: -0.2525, loss_critic: 1.5967, loss_rl_bc: 0.0084, il_score: 0.6602, rl_score: 0.6676, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.7420, grad_norm: 39.8574, il_score_sum: 65.7410, rl_score_sum: 67.2703, score_diff: -1.5294, il_win: 76.0000, rl_win: 319.0000
2025-09-24 13:56:01,942 - mmdet - INFO - Epoch [17][1080/3517]	lr: 1.254e-05, eta: 6:02:13, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1786, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3238, debug_std_frame_4: 0.3783, debug_std_frame_5: 0.4326, loss_rl: -0.2442, loss_critic: 1.2687, loss_rl_bc: 0.0087, il_score: 0.6582, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.2032, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4502, grad_norm: 45.3444, il_score_sum: 65.7410, rl_score_sum: 67.2703, score_diff: -1.5294, il_win: 76.0000, rl_win: 319.0000
2025-09-24 13:56:17,866 - mmdet - INFO - Epoch [17][1100/3517]	lr: 1.254e-05, eta: 6:01:57, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1698, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2325, debug_std_frame_2: 0.2790, debug_std_frame_3: 0.3297, debug_std_frame_4: 0.3821, debug_std_frame_5: 0.4371, loss_rl: -0.2558, loss_critic: 1.1930, loss_rl_bc: 0.0061, il_score: 0.6777, rl_score: 0.7087, prev_frame_loss_waypoint_0: 0.1683, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.3119, grad_norm: 42.2856, il_score_sum: 65.7410, rl_score_sum: 67.2703, score_diff: -1.5294, il_win: 76.0000, rl_win: 319.0000
2025-09-24 13:56:33,771 - mmdet - INFO - Epoch [17][1120/3517]	lr: 1.254e-05, eta: 6:01:41, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1781, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2282, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3285, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4411, loss_rl: -0.2415, loss_critic: 1.3960, loss_rl_bc: 0.0083, il_score: 0.6782, rl_score: 0.6682, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.5575, grad_norm: 42.3676, il_score_sum: 65.7410, rl_score_sum: 67.2703, score_diff: -1.5294, il_win: 76.0000, rl_win: 319.0000
2025-09-24 13:56:49,899 - mmdet - INFO - Epoch [17][1140/3517]	lr: 1.254e-05, eta: 6:01:25, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1678, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2273, debug_std_frame_2: 0.2803, debug_std_frame_3: 0.3356, debug_std_frame_4: 0.3914, debug_std_frame_5: 0.4487, loss_rl: -0.1985, loss_critic: 1.4797, loss_rl_bc: 0.0092, il_score: 0.6228, rl_score: 0.6521, prev_frame_loss_waypoint_0: 0.1714, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.6621, grad_norm: 46.0121, il_score_sum: 65.8392, rl_score_sum: 67.3426, score_diff: -1.5034, il_win: 76.0000, rl_win: 319.4167
2025-09-24 13:57:06,108 - mmdet - INFO - Epoch [17][1160/3517]	lr: 1.254e-05, eta: 6:01:09, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1684, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3162, debug_std_frame_4: 0.3677, debug_std_frame_5: 0.4217, loss_rl: -0.2517, loss_critic: 1.1029, loss_rl_bc: 0.0056, il_score: 0.6992, rl_score: 0.7262, prev_frame_loss_waypoint_0: 0.1772, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.2326, grad_norm: 49.6226, il_score_sum: 65.8392, rl_score_sum: 67.3426, score_diff: -1.5034, il_win: 76.0000, rl_win: 319.4167
2025-09-24 13:57:22,202 - mmdet - INFO - Epoch [17][1180/3517]	lr: 1.254e-05, eta: 6:00:53, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1665, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3281, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4399, loss_rl: -0.2301, loss_critic: 1.9959, loss_rl_bc: 0.0080, il_score: 0.6254, rl_score: 0.6386, prev_frame_loss_waypoint_0: 0.2060, prev_frame_loss_rl_bc_0: 0.0165, loss: 2.1911, grad_norm: 46.1390, il_score_sum: 65.8392, rl_score_sum: 67.3426, score_diff: -1.5034, il_win: 76.0000, rl_win: 319.4167
2025-09-24 13:57:38,383 - mmdet - INFO - Epoch [17][1200/3517]	lr: 1.254e-05, eta: 6:00:37, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1434, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2333, debug_std_frame_2: 0.2832, debug_std_frame_3: 0.3369, debug_std_frame_4: 0.3889, debug_std_frame_5: 0.4464, loss_rl: -0.2232, loss_critic: 1.8925, loss_rl_bc: 0.0036, il_score: 0.6211, rl_score: 0.6411, prev_frame_loss_waypoint_0: 0.1595, prev_frame_loss_rl_bc_0: 0.0030, loss: 2.0080, grad_norm: 45.9069, il_score_sum: 65.8392, rl_score_sum: 67.3426, score_diff: -1.5034, il_win: 76.0000, rl_win: 319.4167
2025-09-24 13:57:54,479 - mmdet - INFO - Epoch [17][1220/3517]	lr: 1.254e-05, eta: 6:00:21, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1743, debug_std_frame_0: 0.2114, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3678, debug_std_frame_5: 0.4219, loss_rl: -0.2552, loss_critic: 1.2317, loss_rl_bc: 0.0121, il_score: 0.6611, rl_score: 0.6777, prev_frame_loss_waypoint_0: 0.1867, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.3846, grad_norm: 37.2389, il_score_sum: 65.8392, rl_score_sum: 67.3426, score_diff: -1.5034, il_win: 76.0000, rl_win: 319.4167
2025-09-24 13:58:10,679 - mmdet - INFO - Epoch [17][1240/3517]	lr: 1.254e-05, eta: 6:00:05, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1604, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2801, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3795, debug_std_frame_5: 0.4371, loss_rl: -0.3003, loss_critic: 1.1884, loss_rl_bc: 0.0058, il_score: 0.6987, rl_score: 0.6966, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.2687, grad_norm: 42.9106, il_score_sum: 65.7821, rl_score_sum: 67.3091, score_diff: -1.5271, il_win: 76.0000, rl_win: 319.8462
2025-09-24 13:58:26,780 - mmdet - INFO - Epoch [17][1260/3517]	lr: 1.254e-05, eta: 5:59:49, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1789, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2379, debug_std_frame_2: 0.2910, debug_std_frame_3: 0.3427, debug_std_frame_4: 0.3966, debug_std_frame_5: 0.4577, loss_rl: -0.2485, loss_critic: 1.4870, loss_rl_bc: 0.0076, il_score: 0.6338, rl_score: 0.6736, prev_frame_loss_waypoint_0: 0.2038, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.6710, grad_norm: 42.0113, il_score_sum: 65.7821, rl_score_sum: 67.3091, score_diff: -1.5271, il_win: 76.0000, rl_win: 319.8462
2025-09-24 13:58:42,738 - mmdet - INFO - Epoch [17][1280/3517]	lr: 1.254e-05, eta: 5:59:33, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1791, debug_std_frame_0: 0.2148, debug_std_frame_1: 0.2374, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3393, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4468, loss_rl: -0.2545, loss_critic: 1.3763, loss_rl_bc: 0.0056, il_score: 0.6513, rl_score: 0.6681, prev_frame_loss_waypoint_0: 0.1912, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.5340, grad_norm: 46.6364, il_score_sum: 65.7821, rl_score_sum: 67.3091, score_diff: -1.5271, il_win: 76.0000, rl_win: 319.8462
2025-09-24 13:58:58,719 - mmdet - INFO - Epoch [17][1300/3517]	lr: 1.254e-05, eta: 5:59:17, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1746, debug_std_frame_0: 0.2158, debug_std_frame_1: 0.2411, debug_std_frame_2: 0.2930, debug_std_frame_3: 0.3467, debug_std_frame_4: 0.4003, debug_std_frame_5: 0.4542, loss_rl: -0.2369, loss_critic: 1.2904, loss_rl_bc: 0.0088, il_score: 0.6587, rl_score: 0.6690, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.4588, grad_norm: 42.3745, il_score_sum: 65.7821, rl_score_sum: 67.3091, score_diff: -1.5271, il_win: 76.0000, rl_win: 319.8462
2025-09-24 13:59:15,012 - mmdet - INFO - Epoch [17][1320/3517]	lr: 1.254e-05, eta: 5:59:01, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1875, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2407, debug_std_frame_2: 0.2896, debug_std_frame_3: 0.3388, debug_std_frame_4: 0.3896, debug_std_frame_5: 0.4427, loss_rl: -0.2376, loss_critic: 1.6464, loss_rl_bc: 0.0141, il_score: 0.6217, rl_score: 0.6475, prev_frame_loss_waypoint_0: 0.1949, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.8448, grad_norm: 63.9586, il_score_sum: 65.7821, rl_score_sum: 67.3091, score_diff: -1.5271, il_win: 76.0000, rl_win: 319.8462
2025-09-24 13:59:31,165 - mmdet - INFO - Epoch [17][1340/3517]	lr: 1.254e-05, eta: 5:58:45, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1742, debug_std_frame_0: 0.2198, debug_std_frame_1: 0.2443, debug_std_frame_2: 0.2898, debug_std_frame_3: 0.3377, debug_std_frame_4: 0.3868, debug_std_frame_5: 0.4382, loss_rl: -0.2783, loss_critic: 1.3195, loss_rl_bc: 0.0089, il_score: 0.6689, rl_score: 0.6649, prev_frame_loss_waypoint_0: 0.1783, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.4382, grad_norm: 37.3624, il_score_sum: 65.7133, rl_score_sum: 67.2597, score_diff: -1.5464, il_win: 76.0000, rl_win: 320.2857
2025-09-24 13:59:47,110 - mmdet - INFO - Epoch [17][1360/3517]	lr: 1.254e-05, eta: 5:58:29, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1751, debug_std_frame_0: 0.2179, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2902, debug_std_frame_3: 0.3424, debug_std_frame_4: 0.3933, debug_std_frame_5: 0.4520, loss_rl: -0.2607, loss_critic: 1.1229, loss_rl_bc: 0.0073, il_score: 0.6764, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1862, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.2701, grad_norm: 39.4049, il_score_sum: 65.7133, rl_score_sum: 67.2597, score_diff: -1.5464, il_win: 76.0000, rl_win: 320.2857
2025-09-24 14:00:03,152 - mmdet - INFO - Epoch [17][1380/3517]	lr: 1.254e-05, eta: 5:58:13, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1971, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3406, debug_std_frame_4: 0.3956, debug_std_frame_5: 0.4495, loss_rl: -0.2053, loss_critic: 1.4337, loss_rl_bc: 0.0165, il_score: 0.6370, rl_score: 0.6587, prev_frame_loss_waypoint_0: 0.1934, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.6749, grad_norm: 57.7604, il_score_sum: 65.7133, rl_score_sum: 67.2597, score_diff: -1.5464, il_win: 76.0000, rl_win: 320.2857
2025-09-24 14:00:19,243 - mmdet - INFO - Epoch [17][1400/3517]	lr: 1.254e-05, eta: 5:57:57, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1687, debug_std_frame_0: 0.2163, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.2929, debug_std_frame_3: 0.3442, debug_std_frame_4: 0.3934, debug_std_frame_5: 0.4444, loss_rl: -0.2740, loss_critic: 1.2242, loss_rl_bc: 0.0076, il_score: 0.6582, rl_score: 0.6874, prev_frame_loss_waypoint_0: 0.1905, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.3535, grad_norm: 40.9137, il_score_sum: 65.7133, rl_score_sum: 67.2597, score_diff: -1.5464, il_win: 76.0000, rl_win: 320.2857
2025-09-24 14:00:35,455 - mmdet - INFO - Epoch [17][1420/3517]	lr: 1.254e-05, eta: 5:57:41, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1512, debug_std_frame_0: 0.2172, debug_std_frame_1: 0.2421, debug_std_frame_2: 0.2877, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3815, debug_std_frame_5: 0.4319, loss_rl: -0.3060, loss_critic: 1.7139, loss_rl_bc: 0.0046, il_score: 0.6764, rl_score: 0.6913, prev_frame_loss_waypoint_0: 0.1628, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.7543, grad_norm: 57.0863, il_score_sum: 65.7133, rl_score_sum: 67.2597, score_diff: -1.5464, il_win: 76.0000, rl_win: 320.2857
2025-09-24 14:00:51,545 - mmdet - INFO - Epoch [17][1440/3517]	lr: 1.254e-05, eta: 5:57:24, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1630, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2384, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3300, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4263, loss_rl: -0.2997, loss_critic: 1.4418, loss_rl_bc: 0.0049, il_score: 0.6785, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.1637, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5036, grad_norm: 30.2285, il_score_sum: 65.7782, rl_score_sum: 67.3288, score_diff: -1.5505, il_win: 76.0000, rl_win: 320.7333
2025-09-24 14:01:07,568 - mmdet - INFO - Epoch [17][1460/3517]	lr: 1.254e-05, eta: 5:57:08, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1658, debug_std_frame_0: 0.2152, debug_std_frame_1: 0.2395, debug_std_frame_2: 0.2836, debug_std_frame_3: 0.3349, debug_std_frame_4: 0.3861, debug_std_frame_5: 0.4374, loss_rl: -0.2126, loss_critic: 1.0781, loss_rl_bc: 0.0079, il_score: 0.7022, rl_score: 0.6956, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.2733, grad_norm: 55.0937, il_score_sum: 65.7782, rl_score_sum: 67.3288, score_diff: -1.5505, il_win: 76.0000, rl_win: 320.7333
2025-09-24 14:01:23,655 - mmdet - INFO - Epoch [17][1480/3517]	lr: 1.254e-05, eta: 5:56:52, time: 0.804, data_time: 0.010, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1690, debug_std_frame_0: 0.2172, debug_std_frame_1: 0.2439, debug_std_frame_2: 0.2926, debug_std_frame_3: 0.3485, debug_std_frame_4: 0.4030, debug_std_frame_5: 0.4585, loss_rl: -0.2819, loss_critic: 1.5721, loss_rl_bc: 0.0079, il_score: 0.6279, rl_score: 0.6623, prev_frame_loss_waypoint_0: 0.1925, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.7003, grad_norm: 42.3891, il_score_sum: 65.7782, rl_score_sum: 67.3288, score_diff: -1.5505, il_win: 76.0000, rl_win: 320.7333
2025-09-24 14:01:39,855 - mmdet - INFO - Epoch [17][1500/3517]	lr: 1.254e-05, eta: 5:56:36, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1776, debug_std_frame_0: 0.2142, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2904, debug_std_frame_3: 0.3437, debug_std_frame_4: 0.3973, debug_std_frame_5: 0.4527, loss_rl: -0.2625, loss_critic: 1.1770, loss_rl_bc: 0.0064, il_score: 0.6966, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1900, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.3256, grad_norm: 54.5285, il_score_sum: 65.7782, rl_score_sum: 67.3288, score_diff: -1.5505, il_win: 76.0000, rl_win: 320.7333
2025-09-24 14:01:55,846 - mmdet - INFO - Epoch [17][1520/3517]	lr: 1.254e-05, eta: 5:56:20, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1642, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2913, debug_std_frame_3: 0.3443, debug_std_frame_4: 0.3947, debug_std_frame_5: 0.4451, loss_rl: -0.2815, loss_critic: 1.3724, loss_rl_bc: 0.0048, il_score: 0.6555, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.4682, grad_norm: 44.3796, il_score_sum: 65.7782, rl_score_sum: 67.3288, score_diff: -1.5505, il_win: 76.0000, rl_win: 320.7333
2025-09-24 14:02:11,921 - mmdet - INFO - Epoch [17][1540/3517]	lr: 1.254e-05, eta: 5:56:04, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1705, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2395, debug_std_frame_2: 0.2913, debug_std_frame_3: 0.3431, debug_std_frame_4: 0.3955, debug_std_frame_5: 0.4513, loss_rl: -0.2651, loss_critic: 1.1907, loss_rl_bc: 0.0093, il_score: 0.6654, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.3156, grad_norm: 38.0955, il_score_sum: 65.8790, rl_score_sum: 67.3998, score_diff: -1.5208, il_win: 76.0000, rl_win: 321.1875
2025-09-24 14:02:28,138 - mmdet - INFO - Epoch [17][1560/3517]	lr: 1.254e-05, eta: 5:55:48, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.2096, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2397, debug_std_frame_2: 0.2918, debug_std_frame_3: 0.3445, debug_std_frame_4: 0.3958, debug_std_frame_5: 0.4497, loss_rl: -0.2453, loss_critic: 1.0654, loss_rl_bc: 0.0293, il_score: 0.6812, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.2112, prev_frame_loss_rl_bc_0: 0.0340, loss: 1.3307, grad_norm: 60.8759, il_score_sum: 65.8790, rl_score_sum: 67.3998, score_diff: -1.5208, il_win: 76.0000, rl_win: 321.1875
2025-09-24 14:02:44,252 - mmdet - INFO - Epoch [17][1580/3517]	lr: 1.254e-05, eta: 5:55:32, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1805, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2499, debug_std_frame_2: 0.3066, debug_std_frame_3: 0.3647, debug_std_frame_4: 0.4204, debug_std_frame_5: 0.4723, loss_rl: -0.2130, loss_critic: 1.0687, loss_rl_bc: 0.0153, il_score: 0.6607, rl_score: 0.6525, prev_frame_loss_waypoint_0: 0.1862, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.2795, grad_norm: 44.7276, il_score_sum: 65.8790, rl_score_sum: 67.3998, score_diff: -1.5208, il_win: 76.0000, rl_win: 321.1875
2025-09-24 14:03:00,264 - mmdet - INFO - Epoch [17][1600/3517]	lr: 1.254e-05, eta: 5:55:16, time: 0.801, data_time: 0.010, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1650, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2490, debug_std_frame_2: 0.2986, debug_std_frame_3: 0.3492, debug_std_frame_4: 0.3991, debug_std_frame_5: 0.4493, loss_rl: -0.2865, loss_critic: 1.3512, loss_rl_bc: 0.0043, il_score: 0.6551, rl_score: 0.6713, prev_frame_loss_waypoint_0: 0.1691, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.4350, grad_norm: 60.1482, il_score_sum: 65.8790, rl_score_sum: 67.3998, score_diff: -1.5208, il_win: 76.0000, rl_win: 321.1875
2025-09-24 14:03:16,261 - mmdet - INFO - Epoch [17][1620/3517]	lr: 1.254e-05, eta: 5:55:00, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1659, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2439, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3464, debug_std_frame_4: 0.3977, debug_std_frame_5: 0.4512, loss_rl: -0.2900, loss_critic: 1.6354, loss_rl_bc: 0.0036, il_score: 0.6417, rl_score: 0.6708, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.7281, grad_norm: 54.8529, il_score_sum: 65.8790, rl_score_sum: 67.3998, score_diff: -1.5208, il_win: 76.0000, rl_win: 321.1875
2025-09-24 14:03:32,388 - mmdet - INFO - Epoch [17][1640/3517]	lr: 1.254e-05, eta: 5:54:44, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1622, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2369, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3339, debug_std_frame_4: 0.3830, debug_std_frame_5: 0.4350, loss_rl: -0.2792, loss_critic: 1.3920, loss_rl_bc: 0.0058, il_score: 0.6646, rl_score: 0.6965, prev_frame_loss_waypoint_0: 0.1789, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4937, grad_norm: 44.1159, il_score_sum: 65.8702, rl_score_sum: 67.3588, score_diff: -1.4885, il_win: 76.0000, rl_win: 321.5882
2025-09-24 14:03:48,528 - mmdet - INFO - Epoch [17][1660/3517]	lr: 1.254e-05, eta: 5:54:28, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1781, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2388, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3901, debug_std_frame_5: 0.4420, loss_rl: -0.2779, loss_critic: 1.1523, loss_rl_bc: 0.0097, il_score: 0.6750, rl_score: 0.6869, prev_frame_loss_waypoint_0: 0.1825, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.2769, grad_norm: 54.1844, il_score_sum: 65.8702, rl_score_sum: 67.3588, score_diff: -1.4885, il_win: 76.0000, rl_win: 321.5882
2025-09-24 14:04:04,460 - mmdet - INFO - Epoch [17][1680/3517]	lr: 1.254e-05, eta: 5:54:12, time: 0.797, data_time: 0.010, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1684, debug_std_frame_0: 0.2131, debug_std_frame_1: 0.2389, debug_std_frame_2: 0.2891, debug_std_frame_3: 0.3405, debug_std_frame_4: 0.3908, debug_std_frame_5: 0.4418, loss_rl: -0.2477, loss_critic: 1.3340, loss_rl_bc: 0.0070, il_score: 0.6490, rl_score: 0.6561, prev_frame_loss_waypoint_0: 0.1781, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4766, grad_norm: 41.5844, il_score_sum: 65.8702, rl_score_sum: 67.3588, score_diff: -1.4885, il_win: 76.0000, rl_win: 321.5882
2025-09-24 14:04:20,366 - mmdet - INFO - Epoch [17][1700/3517]	lr: 1.254e-05, eta: 5:53:56, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1849, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2344, debug_std_frame_2: 0.2841, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3815, debug_std_frame_5: 0.4348, loss_rl: -0.2409, loss_critic: 1.6869, loss_rl_bc: 0.0104, il_score: 0.6168, rl_score: 0.6516, prev_frame_loss_waypoint_0: 0.1956, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.8780, grad_norm: 49.7219, il_score_sum: 65.8702, rl_score_sum: 67.3588, score_diff: -1.4885, il_win: 76.0000, rl_win: 321.5882
2025-09-24 14:04:36,571 - mmdet - INFO - Epoch [17][1720/3517]	lr: 1.254e-05, eta: 5:53:40, time: 0.810, data_time: 0.010, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.2025, debug_std_frame_0: 0.2168, debug_std_frame_1: 0.2519, debug_std_frame_2: 0.3057, debug_std_frame_3: 0.3622, debug_std_frame_4: 0.4175, debug_std_frame_5: 0.4750, loss_rl: -0.1862, loss_critic: 1.2811, loss_rl_bc: 0.0283, il_score: 0.6471, rl_score: 0.6387, prev_frame_loss_waypoint_0: 0.2205, prev_frame_loss_rl_bc_0: 0.0281, loss: 1.6025, grad_norm: 61.6483, il_score_sum: 65.8702, rl_score_sum: 67.3588, score_diff: -1.4885, il_win: 76.0000, rl_win: 321.5882
2025-09-24 14:04:52,779 - mmdet - INFO - Epoch [17][1740/3517]	lr: 1.254e-05, eta: 5:53:24, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1693, debug_std_frame_0: 0.2206, debug_std_frame_1: 0.2582, debug_std_frame_2: 0.3095, debug_std_frame_3: 0.3609, debug_std_frame_4: 0.4140, debug_std_frame_5: 0.4675, loss_rl: -0.2545, loss_critic: 1.0743, loss_rl_bc: 0.0084, il_score: 0.6717, rl_score: 0.6755, prev_frame_loss_waypoint_0: 0.1904, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.2258, grad_norm: 46.7357, il_score_sum: 65.8113, rl_score_sum: 67.2967, score_diff: -1.4854, il_win: 76.0000, rl_win: 322.0000
2025-09-24 14:05:08,975 - mmdet - INFO - Epoch [17][1760/3517]	lr: 1.254e-05, eta: 5:53:08, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1649, debug_std_frame_0: 0.2189, debug_std_frame_1: 0.2474, debug_std_frame_2: 0.2920, debug_std_frame_3: 0.3394, debug_std_frame_4: 0.3870, debug_std_frame_5: 0.4391, loss_rl: -0.2660, loss_critic: 1.2812, loss_rl_bc: 0.0073, il_score: 0.6848, rl_score: 0.6918, prev_frame_loss_waypoint_0: 0.1674, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.3863, grad_norm: 41.6975, il_score_sum: 65.8113, rl_score_sum: 67.2967, score_diff: -1.4854, il_win: 76.0000, rl_win: 322.0000
2025-09-24 14:05:24,952 - mmdet - INFO - Epoch [17][1780/3517]	lr: 1.254e-05, eta: 5:52:51, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1796, debug_std_frame_0: 0.2204, debug_std_frame_1: 0.2508, debug_std_frame_2: 0.2991, debug_std_frame_3: 0.3529, debug_std_frame_4: 0.4036, debug_std_frame_5: 0.4601, loss_rl: -0.2519, loss_critic: 1.3784, loss_rl_bc: 0.0072, il_score: 0.6640, rl_score: 0.6837, prev_frame_loss_waypoint_0: 0.1864, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.5365, grad_norm: 45.3576, il_score_sum: 65.8113, rl_score_sum: 67.2967, score_diff: -1.4854, il_win: 76.0000, rl_win: 322.0000
2025-09-24 14:05:41,178 - mmdet - INFO - Epoch [17][1800/3517]	lr: 1.254e-05, eta: 5:52:35, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1732, debug_std_frame_0: 0.2260, debug_std_frame_1: 0.2585, debug_std_frame_2: 0.3088, debug_std_frame_3: 0.3620, debug_std_frame_4: 0.4176, debug_std_frame_5: 0.4767, loss_rl: -0.2806, loss_critic: 1.1967, loss_rl_bc: 0.0061, il_score: 0.6839, rl_score: 0.7042, prev_frame_loss_waypoint_0: 0.1995, prev_frame_loss_rl_bc_0: 0.0318, loss: 1.3536, grad_norm: 50.1597, il_score_sum: 65.8113, rl_score_sum: 67.2967, score_diff: -1.4854, il_win: 76.0000, rl_win: 322.0000
2025-09-24 14:05:57,238 - mmdet - INFO - Epoch [17][1820/3517]	lr: 1.254e-05, eta: 5:52:19, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1495, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2412, debug_std_frame_2: 0.2848, debug_std_frame_3: 0.3304, debug_std_frame_4: 0.3745, debug_std_frame_5: 0.4235, loss_rl: -0.3165, loss_critic: 1.3206, loss_rl_bc: 0.0054, il_score: 0.6686, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.3612, grad_norm: 40.3196, il_score_sum: 65.8113, rl_score_sum: 67.2967, score_diff: -1.4854, il_win: 76.0000, rl_win: 322.0000
2025-09-24 14:06:13,367 - mmdet - INFO - Epoch [17][1840/3517]	lr: 1.254e-05, eta: 5:52:03, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1838, debug_std_frame_0: 0.2114, debug_std_frame_1: 0.2381, debug_std_frame_2: 0.2855, debug_std_frame_3: 0.3365, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4380, loss_rl: -0.2643, loss_critic: 1.5149, loss_rl_bc: 0.0104, il_score: 0.6295, rl_score: 0.6493, prev_frame_loss_waypoint_0: 0.1988, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.6797, grad_norm: 56.1480, il_score_sum: 65.8856, rl_score_sum: 67.3643, score_diff: -1.4787, il_win: 76.0000, rl_win: 322.4211
2025-09-24 14:06:29,282 - mmdet - INFO - Epoch [17][1860/3517]	lr: 1.254e-05, eta: 5:51:47, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1581, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2397, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3375, debug_std_frame_4: 0.3883, debug_std_frame_5: 0.4405, loss_rl: -0.2379, loss_critic: 1.3829, loss_rl_bc: 0.0069, il_score: 0.6489, rl_score: 0.6441, prev_frame_loss_waypoint_0: 0.1802, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.5263, grad_norm: 51.4812, il_score_sum: 65.8856, rl_score_sum: 67.3643, score_diff: -1.4787, il_win: 76.0000, rl_win: 322.4211
2025-09-24 14:06:45,436 - mmdet - INFO - Epoch [17][1880/3517]	lr: 1.254e-05, eta: 5:51:31, time: 0.808, data_time: 0.010, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1786, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2461, debug_std_frame_2: 0.2929, debug_std_frame_3: 0.3457, debug_std_frame_4: 0.3973, debug_std_frame_5: 0.4487, loss_rl: -0.2522, loss_critic: 1.0384, loss_rl_bc: 0.0070, il_score: 0.6709, rl_score: 0.6833, prev_frame_loss_waypoint_0: 0.1881, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.1941, grad_norm: 46.3154, il_score_sum: 65.8856, rl_score_sum: 67.3643, score_diff: -1.4787, il_win: 76.0000, rl_win: 322.4211
2025-09-24 14:07:01,426 - mmdet - INFO - Epoch [17][1900/3517]	lr: 1.254e-05, eta: 5:51:15, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1801, debug_std_frame_0: 0.2167, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2896, debug_std_frame_3: 0.3388, debug_std_frame_4: 0.3889, debug_std_frame_5: 0.4387, loss_rl: -0.2442, loss_critic: 1.3924, loss_rl_bc: 0.0120, il_score: 0.6461, rl_score: 0.6698, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.5570, grad_norm: 40.1906, il_score_sum: 65.8856, rl_score_sum: 67.3643, score_diff: -1.4787, il_win: 76.0000, rl_win: 322.4211
2025-09-24 14:07:17,424 - mmdet - INFO - Epoch [17][1920/3517]	lr: 1.254e-05, eta: 5:50:59, time: 0.800, data_time: 0.010, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1853, debug_std_frame_0: 0.2191, debug_std_frame_1: 0.2497, debug_std_frame_2: 0.2962, debug_std_frame_3: 0.3495, debug_std_frame_4: 0.4025, debug_std_frame_5: 0.4570, loss_rl: -0.2320, loss_critic: 1.3102, loss_rl_bc: 0.0084, il_score: 0.6545, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.4947, grad_norm: 45.6059, il_score_sum: 65.8856, rl_score_sum: 67.3643, score_diff: -1.4787, il_win: 76.0000, rl_win: 322.4211
2025-09-24 14:07:33,434 - mmdet - INFO - Epoch [17][1940/3517]	lr: 1.254e-05, eta: 5:50:43, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1643, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2430, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3346, debug_std_frame_4: 0.3827, debug_std_frame_5: 0.4332, loss_rl: -0.2634, loss_critic: 1.2093, loss_rl_bc: 0.0060, il_score: 0.6352, rl_score: 0.6718, prev_frame_loss_waypoint_0: 0.1760, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3275, grad_norm: 37.7941, il_score_sum: 65.8612, rl_score_sum: 67.3062, score_diff: -1.4450, il_win: 76.0000, rl_win: 322.8000
2025-09-24 14:07:49,659 - mmdet - INFO - Epoch [17][1960/3517]	lr: 1.254e-05, eta: 5:50:27, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1659, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2404, debug_std_frame_2: 0.2890, debug_std_frame_3: 0.3422, debug_std_frame_4: 0.3943, debug_std_frame_5: 0.4485, loss_rl: -0.2646, loss_critic: 1.5687, loss_rl_bc: 0.0078, il_score: 0.6403, rl_score: 0.6652, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.6922, grad_norm: 32.2721, il_score_sum: 65.8612, rl_score_sum: 67.3062, score_diff: -1.4450, il_win: 76.0000, rl_win: 322.8000
2025-09-24 14:08:05,767 - mmdet - INFO - Epoch [17][1980/3517]	lr: 1.254e-05, eta: 5:50:11, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1424, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2312, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3240, debug_std_frame_4: 0.3721, debug_std_frame_5: 0.4247, loss_rl: -0.3029, loss_critic: 1.3644, loss_rl_bc: -0.0004, il_score: 0.7003, rl_score: 0.6982, prev_frame_loss_waypoint_0: 0.1570, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.3894, grad_norm: 41.3902, il_score_sum: 65.8612, rl_score_sum: 67.3062, score_diff: -1.4450, il_win: 76.0000, rl_win: 322.8000
2025-09-24 14:08:21,675 - mmdet - INFO - Epoch [17][2000/3517]	lr: 1.254e-05, eta: 5:49:55, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1796, debug_std_frame_0: 0.2125, debug_std_frame_1: 0.2327, debug_std_frame_2: 0.2732, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4316, loss_rl: -0.2171, loss_critic: 1.8279, loss_rl_bc: 0.0081, il_score: 0.6229, rl_score: 0.6347, prev_frame_loss_waypoint_0: 0.1958, prev_frame_loss_rl_bc_0: 0.0102, loss: 2.0311, grad_norm: 56.4288, il_score_sum: 65.8612, rl_score_sum: 67.3062, score_diff: -1.4450, il_win: 76.0000, rl_win: 322.8000
2025-09-24 14:08:37,578 - mmdet - INFO - Epoch [17][2020/3517]	lr: 1.254e-05, eta: 5:49:39, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1818, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3218, debug_std_frame_4: 0.3711, debug_std_frame_5: 0.4246, loss_rl: -0.2591, loss_critic: 1.2570, loss_rl_bc: 0.0060, il_score: 0.6546, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.1829, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.4037, grad_norm: 55.2930, il_score_sum: 65.8612, rl_score_sum: 67.3062, score_diff: -1.4450, il_win: 76.0000, rl_win: 322.8000
2025-09-24 14:08:53,907 - mmdet - INFO - Epoch [17][2040/3517]	lr: 1.254e-05, eta: 5:49:23, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.2001, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2872, debug_std_frame_3: 0.3419, debug_std_frame_4: 0.3961, debug_std_frame_5: 0.4511, loss_rl: -0.1740, loss_critic: 1.3502, loss_rl_bc: 0.0196, il_score: 0.6232, rl_score: 0.6323, prev_frame_loss_waypoint_0: 0.2121, prev_frame_loss_rl_bc_0: 0.0191, loss: 1.6547, grad_norm: 52.5251, il_score_sum: 65.8057, rl_score_sum: 67.3442, score_diff: -1.5385, il_win: 76.0000, rl_win: 323.6000
2025-09-24 14:09:09,855 - mmdet - INFO - Epoch [17][2060/3517]	lr: 1.254e-05, eta: 5:49:07, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1603, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2422, debug_std_frame_2: 0.2874, debug_std_frame_3: 0.3376, debug_std_frame_4: 0.3893, debug_std_frame_5: 0.4433, loss_rl: -0.2294, loss_critic: 1.5578, loss_rl_bc: 0.0077, il_score: 0.6600, rl_score: 0.6562, prev_frame_loss_waypoint_0: 0.1690, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.6998, grad_norm: 49.6201, il_score_sum: 65.8057, rl_score_sum: 67.3442, score_diff: -1.5385, il_win: 76.0000, rl_win: 323.6000
2025-09-24 14:09:25,791 - mmdet - INFO - Epoch [17][2080/3517]	lr: 1.254e-05, eta: 5:48:50, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1655, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2447, debug_std_frame_2: 0.2891, debug_std_frame_3: 0.3398, debug_std_frame_4: 0.3904, debug_std_frame_5: 0.4451, loss_rl: -0.2643, loss_critic: 1.1990, loss_rl_bc: 0.0053, il_score: 0.6852, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1755, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.3181, grad_norm: 45.2990, il_score_sum: 65.8057, rl_score_sum: 67.3442, score_diff: -1.5385, il_win: 76.0000, rl_win: 323.6000
2025-09-24 14:09:41,679 - mmdet - INFO - Epoch [17][2100/3517]	lr: 1.254e-05, eta: 5:48:34, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1546, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2376, debug_std_frame_2: 0.2851, debug_std_frame_3: 0.3405, debug_std_frame_4: 0.3929, debug_std_frame_5: 0.4473, loss_rl: -0.2776, loss_critic: 1.1724, loss_rl_bc: 0.0035, il_score: 0.6281, rl_score: 0.6639, prev_frame_loss_waypoint_0: 0.1641, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.2481, grad_norm: 28.6709, il_score_sum: 65.8057, rl_score_sum: 67.3442, score_diff: -1.5385, il_win: 76.0000, rl_win: 323.6000
2025-09-24 14:09:57,696 - mmdet - INFO - Epoch [17][2120/3517]	lr: 1.254e-05, eta: 5:48:18, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1604, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2316, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4288, loss_rl: -0.2775, loss_critic: 1.5223, loss_rl_bc: 0.0032, il_score: 0.6716, rl_score: 0.6923, prev_frame_loss_waypoint_0: 0.1742, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6172, grad_norm: 48.9032, il_score_sum: 65.8057, rl_score_sum: 67.3442, score_diff: -1.5385, il_win: 76.0000, rl_win: 323.6000
2025-09-24 14:10:13,736 - mmdet - INFO - Epoch [17][2140/3517]	lr: 1.254e-05, eta: 5:48:02, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1667, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2296, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4264, loss_rl: -0.2794, loss_critic: 1.7428, loss_rl_bc: 0.0117, il_score: 0.6628, rl_score: 0.6722, prev_frame_loss_waypoint_0: 0.1930, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.8727, grad_norm: 46.7658, il_score_sum: 65.8704, rl_score_sum: 67.3756, score_diff: -1.5052, il_win: 76.0000, rl_win: 324.4000
2025-09-24 14:10:29,665 - mmdet - INFO - Epoch [17][2160/3517]	lr: 1.254e-05, eta: 5:47:46, time: 0.797, data_time: 0.010, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.2030, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2335, debug_std_frame_2: 0.2877, debug_std_frame_3: 0.3470, debug_std_frame_4: 0.4039, debug_std_frame_5: 0.4635, loss_rl: -0.2059, loss_critic: 1.2470, loss_rl_bc: 0.0335, il_score: 0.6390, rl_score: 0.6490, prev_frame_loss_waypoint_0: 0.2136, prev_frame_loss_rl_bc_0: 0.0340, loss: 1.5524, grad_norm: 63.0714, il_score_sum: 65.8704, rl_score_sum: 67.3756, score_diff: -1.5052, il_win: 76.0000, rl_win: 324.4000
2025-09-24 14:10:45,854 - mmdet - INFO - Epoch [17][2180/3517]	lr: 1.254e-05, eta: 5:47:30, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1834, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2409, debug_std_frame_2: 0.2980, debug_std_frame_3: 0.3564, debug_std_frame_4: 0.4158, debug_std_frame_5: 0.4784, loss_rl: -0.2114, loss_critic: 1.1128, loss_rl_bc: 0.0100, il_score: 0.6380, rl_score: 0.6650, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.3332, grad_norm: 53.5767, il_score_sum: 65.8704, rl_score_sum: 67.3756, score_diff: -1.5052, il_win: 76.0000, rl_win: 324.4000
2025-09-24 14:11:01,879 - mmdet - INFO - Epoch [17][2200/3517]	lr: 1.254e-05, eta: 5:47:14, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1970, debug_std_frame_0: 0.2148, debug_std_frame_1: 0.2446, debug_std_frame_2: 0.3034, debug_std_frame_3: 0.3615, debug_std_frame_4: 0.4194, debug_std_frame_5: 0.4817, loss_rl: -0.1868, loss_critic: 0.9610, loss_rl_bc: 0.0143, il_score: 0.6693, rl_score: 0.6751, prev_frame_loss_waypoint_0: 0.2095, prev_frame_loss_rl_bc_0: 0.0140, loss: 1.2373, grad_norm: 49.9822, il_score_sum: 65.8704, rl_score_sum: 67.3756, score_diff: -1.5052, il_win: 76.0000, rl_win: 324.4000
2025-09-24 14:11:17,997 - mmdet - INFO - Epoch [17][2220/3517]	lr: 1.254e-05, eta: 5:46:58, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1675, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2386, debug_std_frame_2: 0.2928, debug_std_frame_3: 0.3488, debug_std_frame_4: 0.4042, debug_std_frame_5: 0.4583, loss_rl: -0.2625, loss_critic: 1.4165, loss_rl_bc: 0.0068, il_score: 0.6362, rl_score: 0.6493, prev_frame_loss_waypoint_0: 0.1635, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5272, grad_norm: 44.9474, il_score_sum: 65.8704, rl_score_sum: 67.3756, score_diff: -1.5052, il_win: 76.0000, rl_win: 324.4000
2025-09-24 14:11:34,095 - mmdet - INFO - Epoch [17][2240/3517]	lr: 1.254e-05, eta: 5:46:42, time: 0.805, data_time: 0.010, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1783, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2368, debug_std_frame_2: 0.3019, debug_std_frame_3: 0.3654, debug_std_frame_4: 0.4237, debug_std_frame_5: 0.4795, loss_rl: -0.2225, loss_critic: 1.4500, loss_rl_bc: 0.0114, il_score: 0.6396, rl_score: 0.6502, prev_frame_loss_waypoint_0: 0.2046, prev_frame_loss_rl_bc_0: 0.0375, loss: 1.6889, grad_norm: 47.9775, il_score_sum: 65.7574, rl_score_sum: 67.2445, score_diff: -1.4871, il_win: 76.0000, rl_win: 325.2000
2025-09-24 14:11:50,073 - mmdet - INFO - Epoch [17][2260/3517]	lr: 1.254e-05, eta: 5:46:26, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1936, debug_std_frame_0: 0.2147, debug_std_frame_1: 0.2449, debug_std_frame_2: 0.3012, debug_std_frame_3: 0.3581, debug_std_frame_4: 0.4175, debug_std_frame_5: 0.4759, loss_rl: -0.2364, loss_critic: 1.0854, loss_rl_bc: 0.0099, il_score: 0.6491, rl_score: 0.6561, prev_frame_loss_waypoint_0: 0.1920, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.2824, grad_norm: 51.3329, il_score_sum: 65.7574, rl_score_sum: 67.2445, score_diff: -1.4871, il_win: 76.0000, rl_win: 325.2000
2025-09-24 14:12:06,151 - mmdet - INFO - Epoch [17][2280/3517]	lr: 1.254e-05, eta: 5:46:10, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1680, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2376, debug_std_frame_2: 0.2911, debug_std_frame_3: 0.3504, debug_std_frame_4: 0.4076, debug_std_frame_5: 0.4641, loss_rl: -0.2016, loss_critic: 1.4820, loss_rl_bc: 0.0066, il_score: 0.6282, rl_score: 0.6476, prev_frame_loss_waypoint_0: 0.1750, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.6660, grad_norm: 50.9175, il_score_sum: 65.7574, rl_score_sum: 67.2445, score_diff: -1.4871, il_win: 76.0000, rl_win: 325.2000
2025-09-24 14:12:22,125 - mmdet - INFO - Epoch [17][2300/3517]	lr: 1.254e-05, eta: 5:45:54, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1778, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2951, debug_std_frame_3: 0.3550, debug_std_frame_4: 0.4147, debug_std_frame_5: 0.4739, loss_rl: -0.2431, loss_critic: 1.3785, loss_rl_bc: 0.0097, il_score: 0.6481, rl_score: 0.6630, prev_frame_loss_waypoint_0: 0.2043, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.5680, grad_norm: 36.4227, il_score_sum: 65.7574, rl_score_sum: 67.2445, score_diff: -1.4871, il_win: 76.0000, rl_win: 325.2000
2025-09-24 14:12:38,150 - mmdet - INFO - Epoch [17][2320/3517]	lr: 1.254e-05, eta: 5:45:37, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1772, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2435, debug_std_frame_2: 0.2987, debug_std_frame_3: 0.3564, debug_std_frame_4: 0.4144, debug_std_frame_5: 0.4737, loss_rl: -0.2654, loss_critic: 1.3740, loss_rl_bc: 0.0077, il_score: 0.6535, rl_score: 0.6880, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.5206, grad_norm: 47.9025, il_score_sum: 65.7574, rl_score_sum: 67.2445, score_diff: -1.4871, il_win: 76.0000, rl_win: 325.2000
2025-09-24 14:12:54,215 - mmdet - INFO - Epoch [17][2340/3517]	lr: 1.254e-05, eta: 5:45:21, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1896, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3454, debug_std_frame_4: 0.4040, debug_std_frame_5: 0.4643, loss_rl: -0.2254, loss_critic: 1.3486, loss_rl_bc: 0.0089, il_score: 0.6451, rl_score: 0.6763, prev_frame_loss_waypoint_0: 0.1905, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.5469, grad_norm: 48.7301, il_score_sum: 65.6948, rl_score_sum: 67.1930, score_diff: -1.4982, il_win: 76.0000, rl_win: 326.0000
2025-09-24 14:13:10,268 - mmdet - INFO - Epoch [17][2360/3517]	lr: 1.254e-05, eta: 5:45:05, time: 0.803, data_time: 0.010, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1849, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2370, debug_std_frame_2: 0.2927, debug_std_frame_3: 0.3477, debug_std_frame_4: 0.4037, debug_std_frame_5: 0.4616, loss_rl: -0.2580, loss_critic: 1.1543, loss_rl_bc: 0.0126, il_score: 0.6393, rl_score: 0.6715, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0162, loss: 1.3379, grad_norm: 43.3756, il_score_sum: 65.6948, rl_score_sum: 67.1930, score_diff: -1.4982, il_win: 76.0000, rl_win: 326.0000
2025-09-24 14:13:26,341 - mmdet - INFO - Epoch [17][2380/3517]	lr: 1.254e-05, eta: 5:44:49, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1657, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2384, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3547, debug_std_frame_4: 0.4178, debug_std_frame_5: 0.4827, loss_rl: -0.2145, loss_critic: 1.0980, loss_rl_bc: 0.0055, il_score: 0.6745, rl_score: 0.6916, prev_frame_loss_waypoint_0: 0.1893, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.2824, grad_norm: 42.4139, il_score_sum: 65.6948, rl_score_sum: 67.1930, score_diff: -1.4982, il_win: 76.0000, rl_win: 326.0000
2025-09-24 14:13:42,401 - mmdet - INFO - Epoch [17][2400/3517]	lr: 1.254e-05, eta: 5:44:33, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1760, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2843, debug_std_frame_3: 0.3378, debug_std_frame_4: 0.3961, debug_std_frame_5: 0.4574, loss_rl: -0.2787, loss_critic: 1.3228, loss_rl_bc: 0.0072, il_score: 0.6456, rl_score: 0.6783, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.4506, grad_norm: 54.5987, il_score_sum: 65.6948, rl_score_sum: 67.1930, score_diff: -1.4982, il_win: 76.0000, rl_win: 326.0000
2025-09-24 14:13:58,503 - mmdet - INFO - Epoch [17][2420/3517]	lr: 1.254e-05, eta: 5:44:17, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1832, debug_std_frame_0: 0.2137, debug_std_frame_1: 0.2361, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3390, debug_std_frame_4: 0.3963, debug_std_frame_5: 0.4557, loss_rl: -0.2698, loss_critic: 1.1414, loss_rl_bc: 0.0063, il_score: 0.6575, rl_score: 0.6904, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.2817, grad_norm: 57.9123, il_score_sum: 65.6948, rl_score_sum: 67.1930, score_diff: -1.4982, il_win: 76.0000, rl_win: 326.0000
2025-09-24 14:14:14,799 - mmdet - INFO - Epoch [17][2440/3517]	lr: 1.254e-05, eta: 5:44:01, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1812, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2896, debug_std_frame_3: 0.3483, debug_std_frame_4: 0.4074, debug_std_frame_5: 0.4686, loss_rl: -0.2689, loss_critic: 1.1721, loss_rl_bc: 0.0052, il_score: 0.6816, rl_score: 0.7039, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.3135, grad_norm: 48.9793, il_score_sum: 65.7422, rl_score_sum: 67.3485, score_diff: -1.6064, il_win: 76.0000, rl_win: 326.8500
2025-09-24 14:14:30,754 - mmdet - INFO - Epoch [17][2460/3517]	lr: 1.254e-05, eta: 5:43:45, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1664, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2786, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3913, debug_std_frame_5: 0.4501, loss_rl: -0.2953, loss_critic: 1.4768, loss_rl_bc: 0.0038, il_score: 0.6784, rl_score: 0.6855, prev_frame_loss_waypoint_0: 0.1854, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.5708, grad_norm: 46.9345, il_score_sum: 65.7422, rl_score_sum: 67.3485, score_diff: -1.6064, il_win: 76.0000, rl_win: 326.8500
2025-09-24 14:14:46,634 - mmdet - INFO - Epoch [17][2480/3517]	lr: 1.254e-05, eta: 5:43:29, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1660, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2312, debug_std_frame_2: 0.2805, debug_std_frame_3: 0.3370, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4548, loss_rl: -0.2390, loss_critic: 1.4150, loss_rl_bc: 0.0071, il_score: 0.6465, rl_score: 0.6444, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.5712, grad_norm: 44.0649, il_score_sum: 65.7422, rl_score_sum: 67.3485, score_diff: -1.6064, il_win: 76.0000, rl_win: 326.8500
2025-09-24 14:15:02,773 - mmdet - INFO - Epoch [17][2500/3517]	lr: 1.254e-05, eta: 5:43:13, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1719, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3338, debug_std_frame_4: 0.3896, debug_std_frame_5: 0.4493, loss_rl: -0.2859, loss_critic: 1.1998, loss_rl_bc: 0.0053, il_score: 0.6875, rl_score: 0.7034, prev_frame_loss_waypoint_0: 0.1782, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.3031, grad_norm: 42.6828, il_score_sum: 65.7422, rl_score_sum: 67.3485, score_diff: -1.6064, il_win: 76.0000, rl_win: 326.8500
2025-09-24 14:15:18,876 - mmdet - INFO - Epoch [17][2520/3517]	lr: 1.254e-05, eta: 5:42:57, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1499, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3262, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4372, loss_rl: -0.2621, loss_critic: 1.7535, loss_rl_bc: 0.0094, il_score: 0.6398, rl_score: 0.6450, prev_frame_loss_waypoint_0: 0.1666, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.8516, grad_norm: 41.9315, il_score_sum: 65.7422, rl_score_sum: 67.3485, score_diff: -1.6064, il_win: 76.0000, rl_win: 326.8500
2025-09-24 14:15:35,022 - mmdet - INFO - Epoch [17][2540/3517]	lr: 1.254e-05, eta: 5:42:41, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1751, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2335, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3331, debug_std_frame_4: 0.3878, debug_std_frame_5: 0.4442, loss_rl: -0.2476, loss_critic: 1.3482, loss_rl_bc: 0.0057, il_score: 0.6383, rl_score: 0.6767, prev_frame_loss_waypoint_0: 0.1881, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.5031, grad_norm: 53.0259, il_score_sum: 65.7797, rl_score_sum: 67.3620, score_diff: -1.5823, il_win: 76.0000, rl_win: 327.6500
2025-09-24 14:15:51,035 - mmdet - INFO - Epoch [17][2560/3517]	lr: 1.254e-05, eta: 5:42:25, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1694, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2790, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3811, debug_std_frame_5: 0.4332, loss_rl: -0.2591, loss_critic: 1.5129, loss_rl_bc: 0.0043, il_score: 0.6605, rl_score: 0.6689, prev_frame_loss_waypoint_0: 0.1841, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.6471, grad_norm: 50.5359, il_score_sum: 65.7797, rl_score_sum: 67.3620, score_diff: -1.5823, il_win: 76.0000, rl_win: 327.6500
2025-09-24 14:16:07,162 - mmdet - INFO - Epoch [17][2580/3517]	lr: 1.254e-05, eta: 5:42:09, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1634, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2795, debug_std_frame_3: 0.3337, debug_std_frame_4: 0.3884, debug_std_frame_5: 0.4468, loss_rl: -0.2021, loss_critic: 1.3614, loss_rl_bc: 0.0072, il_score: 0.6617, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.5596, grad_norm: 52.1998, il_score_sum: 65.7797, rl_score_sum: 67.3620, score_diff: -1.5823, il_win: 76.0000, rl_win: 327.6500
2025-09-24 14:16:23,297 - mmdet - INFO - Epoch [17][2600/3517]	lr: 1.254e-05, eta: 5:41:53, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1622, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3796, debug_std_frame_5: 0.4373, loss_rl: -0.2548, loss_critic: 1.3152, loss_rl_bc: 0.0063, il_score: 0.6568, rl_score: 0.6751, prev_frame_loss_waypoint_0: 0.1914, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.4586, grad_norm: 53.5597, il_score_sum: 65.7797, rl_score_sum: 67.3620, score_diff: -1.5823, il_win: 76.0000, rl_win: 327.6500
2025-09-24 14:16:39,265 - mmdet - INFO - Epoch [17][2620/3517]	lr: 1.254e-05, eta: 5:41:36, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1747, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2336, debug_std_frame_2: 0.2811, debug_std_frame_3: 0.3349, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4471, loss_rl: -0.2572, loss_critic: 1.2389, loss_rl_bc: 0.0091, il_score: 0.6416, rl_score: 0.6756, prev_frame_loss_waypoint_0: 0.1783, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.3763, grad_norm: 59.6672, il_score_sum: 65.7797, rl_score_sum: 67.3620, score_diff: -1.5823, il_win: 76.0000, rl_win: 327.6500
2025-09-24 14:16:55,297 - mmdet - INFO - Epoch [17][2640/3517]	lr: 1.254e-05, eta: 5:41:20, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1563, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3746, debug_std_frame_5: 0.4265, loss_rl: -0.2726, loss_critic: 1.4197, loss_rl_bc: 0.0055, il_score: 0.6503, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.5226, grad_norm: 40.3955, il_score_sum: 65.7216, rl_score_sum: 67.2838, score_diff: -1.5622, il_win: 76.0000, rl_win: 328.4500
2025-09-24 14:17:11,181 - mmdet - INFO - Epoch [17][2660/3517]	lr: 1.254e-05, eta: 5:41:04, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1933, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2442, debug_std_frame_2: 0.3009, debug_std_frame_3: 0.3558, debug_std_frame_4: 0.4123, debug_std_frame_5: 0.4737, loss_rl: -0.2421, loss_critic: 1.2842, loss_rl_bc: 0.0165, il_score: 0.6440, rl_score: 0.6667, prev_frame_loss_waypoint_0: 0.2040, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.4946, grad_norm: 51.6454, il_score_sum: 65.7216, rl_score_sum: 67.2838, score_diff: -1.5622, il_win: 76.0000, rl_win: 328.4500
2025-09-24 14:17:27,430 - mmdet - INFO - Epoch [17][2680/3517]	lr: 1.254e-05, eta: 5:40:48, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.2027, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2431, debug_std_frame_2: 0.2973, debug_std_frame_3: 0.3523, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4658, loss_rl: -0.2417, loss_critic: 1.0334, loss_rl_bc: 0.0142, il_score: 0.6359, rl_score: 0.6845, prev_frame_loss_waypoint_0: 0.1993, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.2460, grad_norm: 63.8074, il_score_sum: 65.7216, rl_score_sum: 67.2838, score_diff: -1.5622, il_win: 76.0000, rl_win: 328.4500
2025-09-24 14:17:43,447 - mmdet - INFO - Epoch [17][2700/3517]	lr: 1.254e-05, eta: 5:40:32, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1659, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2405, debug_std_frame_2: 0.2918, debug_std_frame_3: 0.3452, debug_std_frame_4: 0.3997, debug_std_frame_5: 0.4530, loss_rl: -0.2475, loss_critic: 1.3500, loss_rl_bc: 0.0081, il_score: 0.6479, rl_score: 0.6643, prev_frame_loss_waypoint_0: 0.1691, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.4799, grad_norm: 43.0729, il_score_sum: 65.7216, rl_score_sum: 67.2838, score_diff: -1.5622, il_win: 76.0000, rl_win: 328.4500
2025-09-24 14:17:59,439 - mmdet - INFO - Epoch [17][2720/3517]	lr: 1.254e-05, eta: 5:40:16, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1804, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2367, debug_std_frame_2: 0.2865, debug_std_frame_3: 0.3408, debug_std_frame_4: 0.3968, debug_std_frame_5: 0.4544, loss_rl: -0.2504, loss_critic: 1.2929, loss_rl_bc: 0.0079, il_score: 0.6850, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.4508, grad_norm: 59.1976, il_score_sum: 65.7216, rl_score_sum: 67.2838, score_diff: -1.5622, il_win: 76.0000, rl_win: 328.4500
2025-09-24 14:18:15,557 - mmdet - INFO - Epoch [17][2740/3517]	lr: 1.254e-05, eta: 5:40:00, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1840, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2793, debug_std_frame_3: 0.3368, debug_std_frame_4: 0.3937, debug_std_frame_5: 0.4541, loss_rl: -0.2243, loss_critic: 1.2861, loss_rl_bc: 0.0096, il_score: 0.6183, rl_score: 0.6482, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.4894, grad_norm: 42.2680, il_score_sum: 65.6885, rl_score_sum: 67.3212, score_diff: -1.6327, il_win: 76.0000, rl_win: 329.3000
2025-09-24 14:18:31,591 - mmdet - INFO - Epoch [17][2760/3517]	lr: 1.254e-05, eta: 5:39:44, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1677, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3745, debug_std_frame_5: 0.4300, loss_rl: -0.2841, loss_critic: 1.2818, loss_rl_bc: 0.0062, il_score: 0.6997, rl_score: 0.7029, prev_frame_loss_waypoint_0: 0.1626, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.3620, grad_norm: 45.6859, il_score_sum: 65.6885, rl_score_sum: 67.3212, score_diff: -1.6327, il_win: 76.0000, rl_win: 329.3000
2025-09-24 14:18:47,878 - mmdet - INFO - Epoch [17][2780/3517]	lr: 1.254e-05, eta: 5:39:28, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0297, loss_waypoint: 0.1715, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2322, debug_std_frame_2: 0.2812, debug_std_frame_3: 0.3345, debug_std_frame_4: 0.3882, debug_std_frame_5: 0.4480, loss_rl: -0.2732, loss_critic: 1.4717, loss_rl_bc: 0.0058, il_score: 0.6349, rl_score: 0.6601, prev_frame_loss_waypoint_0: 0.2104, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6274, grad_norm: 45.5308, il_score_sum: 65.6885, rl_score_sum: 67.3212, score_diff: -1.6327, il_win: 76.0000, rl_win: 329.3000
2025-09-24 14:19:03,805 - mmdet - INFO - Epoch [17][2800/3517]	lr: 1.254e-05, eta: 5:39:12, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1816, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2899, debug_std_frame_3: 0.3481, debug_std_frame_4: 0.4075, debug_std_frame_5: 0.4716, loss_rl: -0.2274, loss_critic: 1.5964, loss_rl_bc: 0.0082, il_score: 0.6215, rl_score: 0.6457, prev_frame_loss_waypoint_0: 0.1912, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.7872, grad_norm: 49.5596, il_score_sum: 65.6885, rl_score_sum: 67.3212, score_diff: -1.6327, il_win: 76.0000, rl_win: 329.3000
2025-09-24 14:19:19,847 - mmdet - INFO - Epoch [17][2820/3517]	lr: 1.254e-05, eta: 5:38:56, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0295, loss_waypoint: 0.1743, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2407, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3524, debug_std_frame_4: 0.4090, debug_std_frame_5: 0.4652, loss_rl: -0.2348, loss_critic: 1.3078, loss_rl_bc: 0.0081, il_score: 0.6525, rl_score: 0.6668, prev_frame_loss_waypoint_0: 0.2036, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.5004, grad_norm: 49.6441, il_score_sum: 65.6885, rl_score_sum: 67.3212, score_diff: -1.6327, il_win: 76.0000, rl_win: 329.3000
2025-09-24 14:19:35,812 - mmdet - INFO - Epoch [17][2840/3517]	lr: 1.254e-05, eta: 5:38:40, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1584, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2350, debug_std_frame_2: 0.2842, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3913, debug_std_frame_5: 0.4450, loss_rl: -0.2534, loss_critic: 1.4948, loss_rl_bc: 0.0087, il_score: 0.6599, rl_score: 0.6627, prev_frame_loss_waypoint_0: 0.1789, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.6206, grad_norm: 39.2233, il_score_sum: 65.5995, rl_score_sum: 67.2427, score_diff: -1.6432, il_win: 76.0000, rl_win: 330.1500
2025-09-24 14:19:51,985 - mmdet - INFO - Epoch [17][2860/3517]	lr: 1.254e-05, eta: 5:38:24, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1815, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2388, debug_std_frame_2: 0.2888, debug_std_frame_3: 0.3462, debug_std_frame_4: 0.3990, debug_std_frame_5: 0.4526, loss_rl: -0.2217, loss_critic: 1.2731, loss_rl_bc: 0.0083, il_score: 0.6295, rl_score: 0.6735, prev_frame_loss_waypoint_0: 0.2038, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.4839, grad_norm: 53.9734, il_score_sum: 65.5995, rl_score_sum: 67.2427, score_diff: -1.6432, il_win: 76.0000, rl_win: 330.1500
2025-09-24 14:20:08,072 - mmdet - INFO - Epoch [17][2880/3517]	lr: 1.254e-05, eta: 5:38:08, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1584, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2408, debug_std_frame_2: 0.2904, debug_std_frame_3: 0.3458, debug_std_frame_4: 0.3974, debug_std_frame_5: 0.4531, loss_rl: -0.2433, loss_critic: 1.2872, loss_rl_bc: 0.0063, il_score: 0.6900, rl_score: 0.7046, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.4186, grad_norm: 47.3662, il_score_sum: 65.5995, rl_score_sum: 67.2427, score_diff: -1.6432, il_win: 76.0000, rl_win: 330.1500
2025-09-24 14:20:24,017 - mmdet - INFO - Epoch [17][2900/3517]	lr: 1.254e-05, eta: 5:37:51, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1633, debug_std_frame_0: 0.2170, debug_std_frame_1: 0.2420, debug_std_frame_2: 0.2849, debug_std_frame_3: 0.3339, debug_std_frame_4: 0.3819, debug_std_frame_5: 0.4337, loss_rl: -0.2778, loss_critic: 1.2342, loss_rl_bc: 0.0078, il_score: 0.6488, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.3381, grad_norm: 35.9462, il_score_sum: 65.5995, rl_score_sum: 67.2427, score_diff: -1.6432, il_win: 76.0000, rl_win: 330.1500
2025-09-24 14:20:39,963 - mmdet - INFO - Epoch [17][2920/3517]	lr: 1.254e-05, eta: 5:37:35, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1870, debug_std_frame_0: 0.2146, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2902, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.3997, debug_std_frame_5: 0.4524, loss_rl: -0.2462, loss_critic: 1.1754, loss_rl_bc: 0.0111, il_score: 0.6647, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1888, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.3511, grad_norm: 40.2898, il_score_sum: 65.5995, rl_score_sum: 67.2427, score_diff: -1.6432, il_win: 76.0000, rl_win: 330.1500
2025-09-24 14:20:56,028 - mmdet - INFO - Epoch [17][2940/3517]	lr: 1.254e-05, eta: 5:37:19, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1914, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2443, debug_std_frame_2: 0.2972, debug_std_frame_3: 0.3528, debug_std_frame_4: 0.4105, debug_std_frame_5: 0.4688, loss_rl: -0.1820, loss_critic: 1.3908, loss_rl_bc: 0.0117, il_score: 0.6102, rl_score: 0.6354, prev_frame_loss_waypoint_0: 0.2113, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.6630, grad_norm: 50.2980, il_score_sum: 65.5970, rl_score_sum: 67.2266, score_diff: -1.6295, il_win: 76.0000, rl_win: 331.0000
2025-09-24 14:21:12,053 - mmdet - INFO - Epoch [17][2960/3517]	lr: 1.254e-05, eta: 5:37:03, time: 0.801, data_time: 0.010, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1848, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2403, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3468, debug_std_frame_4: 0.4064, debug_std_frame_5: 0.4646, loss_rl: -0.2092, loss_critic: 1.2911, loss_rl_bc: 0.0147, il_score: 0.6720, rl_score: 0.6699, prev_frame_loss_waypoint_0: 0.1930, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.5120, grad_norm: 38.6568, il_score_sum: 65.5970, rl_score_sum: 67.2266, score_diff: -1.6295, il_win: 76.0000, rl_win: 331.0000
2025-09-24 14:21:28,076 - mmdet - INFO - Epoch [17][2980/3517]	lr: 1.254e-05, eta: 5:36:47, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1655, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2362, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3271, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4305, loss_rl: -0.2724, loss_critic: 1.3580, loss_rl_bc: 0.0075, il_score: 0.6298, rl_score: 0.6722, prev_frame_loss_waypoint_0: 0.1792, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.4739, grad_norm: 50.0470, il_score_sum: 65.5970, rl_score_sum: 67.2266, score_diff: -1.6295, il_win: 76.0000, rl_win: 331.0000
2025-09-24 14:21:44,086 - mmdet - INFO - Epoch [17][3000/3517]	lr: 1.254e-05, eta: 5:36:31, time: 0.800, data_time: 0.010, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1643, debug_std_frame_0: 0.2177, debug_std_frame_1: 0.2444, debug_std_frame_2: 0.2884, debug_std_frame_3: 0.3398, debug_std_frame_4: 0.3918, debug_std_frame_5: 0.4449, loss_rl: -0.2948, loss_critic: 1.1310, loss_rl_bc: 0.0065, il_score: 0.6716, rl_score: 0.6709, prev_frame_loss_waypoint_0: 0.1815, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.2238, grad_norm: 42.1971, il_score_sum: 65.5970, rl_score_sum: 67.2266, score_diff: -1.6295, il_win: 76.0000, rl_win: 331.0000
2025-09-24 14:22:00,159 - mmdet - INFO - Epoch [17][3020/3517]	lr: 1.254e-05, eta: 5:36:15, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1645, debug_std_frame_0: 0.2173, debug_std_frame_1: 0.2476, debug_std_frame_2: 0.2977, debug_std_frame_3: 0.3503, debug_std_frame_4: 0.4092, debug_std_frame_5: 0.4660, loss_rl: -0.2076, loss_critic: 1.2752, loss_rl_bc: 0.0074, il_score: 0.6701, rl_score: 0.6677, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.4507, grad_norm: 39.0250, il_score_sum: 65.5970, rl_score_sum: 67.2266, score_diff: -1.6295, il_win: 76.0000, rl_win: 331.0000
2025-09-24 14:22:16,299 - mmdet - INFO - Epoch [17][3040/3517]	lr: 1.254e-05, eta: 5:35:59, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1730, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2381, debug_std_frame_2: 0.2893, debug_std_frame_3: 0.3421, debug_std_frame_4: 0.4000, debug_std_frame_5: 0.4568, loss_rl: -0.2494, loss_critic: 1.2148, loss_rl_bc: 0.0077, il_score: 0.6552, rl_score: 0.6835, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.3704, grad_norm: 42.1011, il_score_sum: 65.5749, rl_score_sum: 67.1833, score_diff: -1.6084, il_win: 76.0000, rl_win: 331.8500
2025-09-24 14:22:32,207 - mmdet - INFO - Epoch [17][3060/3517]	lr: 1.254e-05, eta: 5:35:43, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0294, loss_waypoint: 0.1786, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2382, debug_std_frame_2: 0.2912, debug_std_frame_3: 0.3484, debug_std_frame_4: 0.4073, debug_std_frame_5: 0.4634, loss_rl: -0.2632, loss_critic: 1.1177, loss_rl_bc: 0.0093, il_score: 0.6599, rl_score: 0.6778, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.2665, grad_norm: 51.0881, il_score_sum: 65.5749, rl_score_sum: 67.1833, score_diff: -1.6084, il_win: 76.0000, rl_win: 331.8500
2025-09-24 14:22:48,148 - mmdet - INFO - Epoch [17][3080/3517]	lr: 1.254e-05, eta: 5:35:27, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1577, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2381, debug_std_frame_2: 0.2855, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3913, debug_std_frame_5: 0.4466, loss_rl: -0.3051, loss_critic: 1.2564, loss_rl_bc: 0.0044, il_score: 0.6781, rl_score: 0.6920, prev_frame_loss_waypoint_0: 0.1642, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.3121, grad_norm: 47.7690, il_score_sum: 65.5749, rl_score_sum: 67.1833, score_diff: -1.6084, il_win: 76.0000, rl_win: 331.8500
2025-09-24 14:23:04,137 - mmdet - INFO - Epoch [17][3100/3517]	lr: 1.254e-05, eta: 5:35:11, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1768, debug_std_frame_0: 0.2166, debug_std_frame_1: 0.2402, debug_std_frame_2: 0.2896, debug_std_frame_3: 0.3426, debug_std_frame_4: 0.3964, debug_std_frame_5: 0.4523, loss_rl: -0.2490, loss_critic: 1.5947, loss_rl_bc: 0.0093, il_score: 0.6305, rl_score: 0.6311, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.7488, grad_norm: 43.2003, il_score_sum: 65.5749, rl_score_sum: 67.1833, score_diff: -1.6084, il_win: 76.0000, rl_win: 331.8500
2025-09-24 14:23:20,172 - mmdet - INFO - Epoch [17][3120/3517]	lr: 1.254e-05, eta: 5:34:55, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1598, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2273, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3699, debug_std_frame_5: 0.4244, loss_rl: -0.2896, loss_critic: 1.2161, loss_rl_bc: 0.0099, il_score: 0.6768, rl_score: 0.6648, prev_frame_loss_waypoint_0: 0.1825, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.3153, grad_norm: 44.1232, il_score_sum: 65.5749, rl_score_sum: 67.1833, score_diff: -1.6084, il_win: 76.0000, rl_win: 331.8500
2025-09-24 14:23:36,181 - mmdet - INFO - Epoch [17][3140/3517]	lr: 1.254e-05, eta: 5:34:38, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1570, debug_std_frame_0: 0.2167, debug_std_frame_1: 0.2417, debug_std_frame_2: 0.2899, debug_std_frame_3: 0.3417, debug_std_frame_4: 0.3941, debug_std_frame_5: 0.4509, loss_rl: -0.2294, loss_critic: 1.4125, loss_rl_bc: 0.0049, il_score: 0.6325, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.5741, grad_norm: 41.1669, il_score_sum: 65.5369, rl_score_sum: 67.1353, score_diff: -1.5984, il_win: 76.0000, rl_win: 332.7000
2025-09-24 14:23:52,228 - mmdet - INFO - Epoch [17][3160/3517]	lr: 1.254e-05, eta: 5:34:22, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1512, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2781, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4268, loss_rl: -0.2870, loss_critic: 1.6175, loss_rl_bc: 0.0018, il_score: 0.6592, rl_score: 0.6903, prev_frame_loss_waypoint_0: 0.1763, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.6955, grad_norm: 44.1625, il_score_sum: 65.5369, rl_score_sum: 67.1353, score_diff: -1.5984, il_win: 76.0000, rl_win: 332.7000
2025-09-24 14:24:08,286 - mmdet - INFO - Epoch [17][3180/3517]	lr: 1.254e-05, eta: 5:34:06, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1555, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2345, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3267, debug_std_frame_4: 0.3765, debug_std_frame_5: 0.4265, loss_rl: -0.2951, loss_critic: 1.3341, loss_rl_bc: 0.0053, il_score: 0.6741, rl_score: 0.6786, prev_frame_loss_waypoint_0: 0.1673, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.4017, grad_norm: 36.0687, il_score_sum: 65.5369, rl_score_sum: 67.1353, score_diff: -1.5984, il_win: 76.0000, rl_win: 332.7000
2025-09-24 14:24:24,056 - mmdet - INFO - Epoch [17][3200/3517]	lr: 1.254e-05, eta: 5:33:50, time: 0.788, data_time: 0.010, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1777, debug_std_frame_0: 0.2148, debug_std_frame_1: 0.2371, debug_std_frame_2: 0.2826, debug_std_frame_3: 0.3299, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4275, loss_rl: -0.2473, loss_critic: 1.0253, loss_rl_bc: 0.0063, il_score: 0.6590, rl_score: 0.6907, prev_frame_loss_waypoint_0: 0.1809, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.1794, grad_norm: 44.8548, il_score_sum: 65.5369, rl_score_sum: 67.1353, score_diff: -1.5984, il_win: 76.0000, rl_win: 332.7000
2025-09-24 14:24:39,979 - mmdet - INFO - Epoch [17][3220/3517]	lr: 1.254e-05, eta: 5:33:34, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1811, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2371, debug_std_frame_2: 0.2937, debug_std_frame_3: 0.3519, debug_std_frame_4: 0.4095, debug_std_frame_5: 0.4673, loss_rl: -0.2750, loss_critic: 1.1482, loss_rl_bc: 0.0090, il_score: 0.6515, rl_score: 0.6536, prev_frame_loss_waypoint_0: 0.2146, prev_frame_loss_rl_bc_0: 0.0145, loss: 1.3201, grad_norm: 47.6614, il_score_sum: 65.5369, rl_score_sum: 67.1353, score_diff: -1.5984, il_win: 76.0000, rl_win: 332.7000
2025-09-24 14:24:56,122 - mmdet - INFO - Epoch [17][3240/3517]	lr: 1.254e-05, eta: 5:33:18, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1615, debug_std_frame_0: 0.2175, debug_std_frame_1: 0.2430, debug_std_frame_2: 0.2924, debug_std_frame_3: 0.3444, debug_std_frame_4: 0.3971, debug_std_frame_5: 0.4522, loss_rl: -0.2389, loss_critic: 1.4198, loss_rl_bc: 0.0065, il_score: 0.6499, rl_score: 0.6626, prev_frame_loss_waypoint_0: 0.1860, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.5732, grad_norm: 49.5410, il_score_sum: 65.5454, rl_score_sum: 67.1501, score_diff: -1.6047, il_win: 76.0000, rl_win: 333.5500
2025-09-24 14:25:12,227 - mmdet - INFO - Epoch [17][3260/3517]	lr: 1.254e-05, eta: 5:33:02, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1653, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2356, debug_std_frame_2: 0.2857, debug_std_frame_3: 0.3348, debug_std_frame_4: 0.3847, debug_std_frame_5: 0.4361, loss_rl: -0.2801, loss_critic: 1.3617, loss_rl_bc: 0.0074, il_score: 0.6466, rl_score: 0.6601, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.4770, grad_norm: 39.6907, il_score_sum: 65.5454, rl_score_sum: 67.1501, score_diff: -1.6047, il_win: 76.0000, rl_win: 333.5500
2025-09-24 14:25:28,224 - mmdet - INFO - Epoch [17][3280/3517]	lr: 1.254e-05, eta: 5:32:46, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0296, loss_waypoint: 0.1590, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2903, debug_std_frame_3: 0.3391, debug_std_frame_4: 0.3885, debug_std_frame_5: 0.4398, loss_rl: -0.2698, loss_critic: 1.5318, loss_rl_bc: 0.0034, il_score: 0.6850, rl_score: 0.6971, prev_frame_loss_waypoint_0: 0.1634, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.6204, grad_norm: 38.9141, il_score_sum: 65.5454, rl_score_sum: 67.1501, score_diff: -1.6047, il_win: 76.0000, rl_win: 333.5500
2025-09-24 14:25:44,237 - mmdet - INFO - Epoch [17][3300/3517]	lr: 1.254e-05, eta: 5:32:30, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1680, debug_std_frame_0: 0.2142, debug_std_frame_1: 0.2366, debug_std_frame_2: 0.2822, debug_std_frame_3: 0.3293, debug_std_frame_4: 0.3796, debug_std_frame_5: 0.4302, loss_rl: -0.2791, loss_critic: 1.2529, loss_rl_bc: 0.0052, il_score: 0.6435, rl_score: 0.6899, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.3533, grad_norm: 50.2103, il_score_sum: 65.5454, rl_score_sum: 67.1501, score_diff: -1.6047, il_win: 76.0000, rl_win: 333.5500
2025-09-24 14:26:00,198 - mmdet - INFO - Epoch [17][3320/3517]	lr: 1.254e-05, eta: 5:32:14, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1747, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3694, debug_std_frame_5: 0.4231, loss_rl: -0.2529, loss_critic: 1.3895, loss_rl_bc: 0.0054, il_score: 0.6426, rl_score: 0.6646, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.5352, grad_norm: 56.6530, il_score_sum: 65.5454, rl_score_sum: 67.1501, score_diff: -1.6047, il_win: 76.0000, rl_win: 333.5500
2025-09-24 14:26:16,334 - mmdet - INFO - Epoch [17][3340/3517]	lr: 1.254e-05, eta: 5:31:58, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1644, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2296, debug_std_frame_2: 0.2767, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4297, loss_rl: -0.2926, loss_critic: 1.4456, loss_rl_bc: 0.0036, il_score: 0.6751, rl_score: 0.6865, prev_frame_loss_waypoint_0: 0.1770, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.5311, grad_norm: 43.2957, il_score_sum: 65.5863, rl_score_sum: 67.2023, score_diff: -1.6160, il_win: 76.0000, rl_win: 334.4000
2025-09-24 14:26:32,192 - mmdet - INFO - Epoch [17][3360/3517]	lr: 1.254e-05, eta: 5:31:41, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1809, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2331, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3344, debug_std_frame_4: 0.3892, debug_std_frame_5: 0.4468, loss_rl: -0.2725, loss_critic: 0.9947, loss_rl_bc: 0.0060, il_score: 0.6514, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.1860, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.1281, grad_norm: 51.4155, il_score_sum: 65.5863, rl_score_sum: 67.2023, score_diff: -1.6160, il_win: 76.0000, rl_win: 334.4000
2025-09-24 14:26:48,231 - mmdet - INFO - Epoch [17][3380/3517]	lr: 1.254e-05, eta: 5:31:25, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1673, debug_std_frame_0: 0.2144, debug_std_frame_1: 0.2338, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3290, debug_std_frame_4: 0.3820, debug_std_frame_5: 0.4352, loss_rl: -0.3047, loss_critic: 1.1290, loss_rl_bc: 0.0051, il_score: 0.6510, rl_score: 0.6720, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.2205, grad_norm: 50.4485, il_score_sum: 65.5863, rl_score_sum: 67.2023, score_diff: -1.6160, il_win: 76.0000, rl_win: 334.4000
2025-09-24 14:27:04,185 - mmdet - INFO - Epoch [17][3400/3517]	lr: 1.254e-05, eta: 5:31:09, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1806, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3838, debug_std_frame_5: 0.4382, loss_rl: -0.2560, loss_critic: 1.3525, loss_rl_bc: 0.0129, il_score: 0.6971, rl_score: 0.6985, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.4964, grad_norm: 43.7010, il_score_sum: 65.5863, rl_score_sum: 67.2023, score_diff: -1.6160, il_win: 76.0000, rl_win: 334.4000
2025-09-24 14:27:20,295 - mmdet - INFO - Epoch [17][3420/3517]	lr: 1.254e-05, eta: 5:30:53, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1475, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3213, debug_std_frame_4: 0.3729, debug_std_frame_5: 0.4236, loss_rl: -0.3084, loss_critic: 1.6029, loss_rl_bc: 0.0049, il_score: 0.6677, rl_score: 0.6864, prev_frame_loss_waypoint_0: 0.1705, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.6501, grad_norm: 31.9217, il_score_sum: 65.5863, rl_score_sum: 67.2023, score_diff: -1.6160, il_win: 76.0000, rl_win: 334.4000
2025-09-24 14:27:36,288 - mmdet - INFO - Epoch [17][3440/3517]	lr: 1.254e-05, eta: 5:30:37, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1561, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2763, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4302, loss_rl: -0.3128, loss_critic: 1.4079, loss_rl_bc: 0.0041, il_score: 0.6408, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.1820, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.4762, grad_norm: 56.3419, il_score_sum: 65.6072, rl_score_sum: 67.2412, score_diff: -1.6340, il_win: 76.0000, rl_win: 335.2500
2025-09-24 14:27:52,222 - mmdet - INFO - Epoch [17][3460/3517]	lr: 1.254e-05, eta: 5:30:21, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1658, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2401, debug_std_frame_2: 0.2917, debug_std_frame_3: 0.3404, debug_std_frame_4: 0.3974, debug_std_frame_5: 0.4533, loss_rl: -0.2571, loss_critic: 1.1930, loss_rl_bc: 0.0101, il_score: 0.6736, rl_score: 0.6687, prev_frame_loss_waypoint_0: 0.1944, prev_frame_loss_rl_bc_0: 0.0119, loss: 1.3461, grad_norm: 39.8403, il_score_sum: 65.6072, rl_score_sum: 67.2412, score_diff: -1.6340, il_win: 76.0000, rl_win: 335.2500
2025-09-24 14:28:08,127 - mmdet - INFO - Epoch [17][3480/3517]	lr: 1.254e-05, eta: 5:30:05, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1738, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2385, debug_std_frame_2: 0.2873, debug_std_frame_3: 0.3393, debug_std_frame_4: 0.3935, debug_std_frame_5: 0.4488, loss_rl: -0.2813, loss_critic: 1.3076, loss_rl_bc: 0.0060, il_score: 0.6830, rl_score: 0.6970, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.4043, grad_norm: 46.6109, il_score_sum: 65.6072, rl_score_sum: 67.2412, score_diff: -1.6340, il_win: 76.0000, rl_win: 335.2500
2025-09-24 14:28:24,112 - mmdet - INFO - Epoch [17][3500/3517]	lr: 1.254e-05, eta: 5:29:49, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1711, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2368, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3434, debug_std_frame_4: 0.4010, debug_std_frame_5: 0.4609, loss_rl: -0.2556, loss_critic: 1.5286, loss_rl_bc: 0.0078, il_score: 0.6149, rl_score: 0.6261, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.6968, grad_norm: 51.8265, il_score_sum: 65.6072, rl_score_sum: 67.2412, score_diff: -1.6340, il_win: 76.0000, rl_win: 335.2500
2025-09-24 14:28:37,361 - mmdet - INFO - Saving checkpoint at 17 epochs
2025-09-24 14:31:11,467 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 14:31:11,468 - mmdet - INFO - Epoch(val) [17][753]	plan_L2_1s: 0.3097, plan_L2_2s: 0.6173, plan_L2_3s: 1.0341, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0053, plan_obj_box_col_2s: 0.0052, plan_obj_box_col_3s: 0.0085, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3115, plan_L2_2s_rl_actor: 0.6206, plan_L2_3s_rl_actor: 1.0426, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0000, plan_obj_box_col_1s_rl_actor: 0.0068, plan_obj_box_col_2s_rl_actor: 0.0082, plan_obj_box_col_3s_rl_actor: 0.0118, fut_valid_flag_rl_actor: 1.0000
2025-09-24 14:31:36,441 - mmdet - INFO - Epoch [18][20/3517]	lr: 9.821e-06, eta: 5:29:17, time: 1.248, data_time: 0.362, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1561, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2373, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3912, debug_std_frame_5: 0.4458, loss_rl: -0.2797, loss_critic: 1.3792, loss_rl_bc: 0.0067, il_score: 0.6810, rl_score: 0.6846, prev_frame_loss_waypoint_0: 0.1766, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.4726, grad_norm: 41.1895, il_score_sum: 65.5765, rl_score_sum: 67.2216, score_diff: -1.6451, il_win: 76.0000, rl_win: 345.0000
2025-09-24 14:31:53,217 - mmdet - INFO - Epoch [18][40/3517]	lr: 9.821e-06, eta: 5:29:01, time: 0.839, data_time: 0.016, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1660, debug_std_frame_0: 0.2189, debug_std_frame_1: 0.2448, debug_std_frame_2: 0.2909, debug_std_frame_3: 0.3401, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4421, loss_rl: -0.2860, loss_critic: 1.5085, loss_rl_bc: 0.0075, il_score: 0.6500, rl_score: 0.6458, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.6097, grad_norm: 48.5656, il_score_sum: 65.5765, rl_score_sum: 67.2216, score_diff: -1.6451, il_win: 76.0000, rl_win: 345.0000
2025-09-24 14:32:09,870 - mmdet - INFO - Epoch [18][60/3517]	lr: 9.821e-06, eta: 5:28:45, time: 0.831, data_time: 0.016, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1718, debug_std_frame_0: 0.2154, debug_std_frame_1: 0.2391, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3361, debug_std_frame_4: 0.3885, debug_std_frame_5: 0.4432, loss_rl: -0.2575, loss_critic: 1.2583, loss_rl_bc: 0.0060, il_score: 0.6761, rl_score: 0.6936, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4013, grad_norm: 41.5438, il_score_sum: 65.5765, rl_score_sum: 67.2216, score_diff: -1.6451, il_win: 76.0000, rl_win: 345.0000
2025-09-24 14:32:26,505 - mmdet - INFO - Epoch [18][80/3517]	lr: 9.821e-06, eta: 5:28:30, time: 0.833, data_time: 0.016, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1699, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2326, debug_std_frame_2: 0.2811, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3872, debug_std_frame_5: 0.4412, loss_rl: -0.2398, loss_critic: 1.1232, loss_rl_bc: 0.0048, il_score: 0.6463, rl_score: 0.6825, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.2660, grad_norm: 42.1628, il_score_sum: 65.5765, rl_score_sum: 67.2216, score_diff: -1.6451, il_win: 76.0000, rl_win: 345.0000
2025-09-24 14:32:43,275 - mmdet - INFO - Epoch [18][100/3517]	lr: 9.821e-06, eta: 5:28:14, time: 0.838, data_time: 0.015, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1630, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3762, debug_std_frame_5: 0.4302, loss_rl: -0.2581, loss_critic: 1.4979, loss_rl_bc: 0.0051, il_score: 0.6416, rl_score: 0.6633, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.6102, grad_norm: 40.1371, il_score_sum: 65.5765, rl_score_sum: 67.2216, score_diff: -1.6451, il_win: 76.0000, rl_win: 345.0000
2025-09-24 14:33:00,150 - mmdet - INFO - Epoch [18][120/3517]	lr: 9.821e-06, eta: 5:27:58, time: 0.844, data_time: 0.014, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1884, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2821, debug_std_frame_3: 0.3337, debug_std_frame_4: 0.3911, debug_std_frame_5: 0.4456, loss_rl: -0.2196, loss_critic: 1.1277, loss_rl_bc: 0.0092, il_score: 0.6310, rl_score: 0.6625, prev_frame_loss_waypoint_0: 0.1911, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.3356, grad_norm: 41.5788, il_score_sum: 65.5012, rl_score_sum: 67.2046, score_diff: -1.7035, il_win: 76.0000, rl_win: 345.5000
2025-09-24 14:33:16,821 - mmdet - INFO - Epoch [18][140/3517]	lr: 9.821e-06, eta: 5:27:42, time: 0.833, data_time: 0.014, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1736, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2380, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3483, debug_std_frame_4: 0.4081, debug_std_frame_5: 0.4692, loss_rl: -0.2292, loss_critic: 1.4389, loss_rl_bc: 0.0100, il_score: 0.6394, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.1943, prev_frame_loss_rl_bc_0: 0.0096, loss: 1.6252, grad_norm: 41.9601, il_score_sum: 65.5012, rl_score_sum: 67.2046, score_diff: -1.7035, il_win: 76.0000, rl_win: 345.5000
2025-09-24 14:33:33,180 - mmdet - INFO - Epoch [18][160/3517]	lr: 9.821e-06, eta: 5:27:26, time: 0.818, data_time: 0.014, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1807, debug_std_frame_0: 0.2131, debug_std_frame_1: 0.2387, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3428, debug_std_frame_4: 0.4014, debug_std_frame_5: 0.4595, loss_rl: -0.2093, loss_critic: 1.3935, loss_rl_bc: 0.0117, il_score: 0.6255, rl_score: 0.6249, prev_frame_loss_waypoint_0: 0.1922, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.6065, grad_norm: 42.0761, il_score_sum: 65.5012, rl_score_sum: 67.2046, score_diff: -1.7035, il_win: 76.0000, rl_win: 345.5000
2025-09-24 14:33:50,044 - mmdet - INFO - Epoch [18][180/3517]	lr: 9.821e-06, eta: 5:27:11, time: 0.843, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1699, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2363, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3950, debug_std_frame_5: 0.4495, loss_rl: -0.2581, loss_critic: 1.3394, loss_rl_bc: 0.0051, il_score: 0.6857, rl_score: 0.7153, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.4681, grad_norm: 44.5291, il_score_sum: 65.5012, rl_score_sum: 67.2046, score_diff: -1.7035, il_win: 76.0000, rl_win: 345.5000
2025-09-24 14:34:06,537 - mmdet - INFO - Epoch [18][200/3517]	lr: 9.821e-06, eta: 5:26:55, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1586, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2281, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3272, debug_std_frame_4: 0.3818, debug_std_frame_5: 0.4349, loss_rl: -0.2430, loss_critic: 1.8770, loss_rl_bc: 0.0053, il_score: 0.6415, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0044, loss: 2.0002, grad_norm: 48.8226, il_score_sum: 65.5012, rl_score_sum: 67.2046, score_diff: -1.7035, il_win: 76.0000, rl_win: 345.5000
2025-09-24 14:34:23,220 - mmdet - INFO - Epoch [18][220/3517]	lr: 9.821e-06, eta: 5:26:39, time: 0.834, data_time: 0.015, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1540, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2295, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4274, loss_rl: -0.2743, loss_critic: 1.3794, loss_rl_bc: 0.0024, il_score: 0.6771, rl_score: 0.6814, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.4633, grad_norm: 52.3401, il_score_sum: 65.4103, rl_score_sum: 66.9868, score_diff: -1.5765, il_win: 76.0000, rl_win: 346.0000
2025-09-24 14:34:39,818 - mmdet - INFO - Epoch [18][240/3517]	lr: 9.821e-06, eta: 5:26:23, time: 0.830, data_time: 0.015, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1464, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3144, debug_std_frame_4: 0.3640, debug_std_frame_5: 0.4150, loss_rl: -0.2862, loss_critic: 1.4014, loss_rl_bc: 0.0001, il_score: 0.6765, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.1573, prev_frame_loss_rl_bc_0: -0.0006, loss: 1.4457, grad_norm: 44.6505, il_score_sum: 65.4103, rl_score_sum: 66.9868, score_diff: -1.5765, il_win: 76.0000, rl_win: 346.0000
2025-09-24 14:34:56,471 - mmdet - INFO - Epoch [18][260/3517]	lr: 9.821e-06, eta: 5:26:07, time: 0.833, data_time: 0.015, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1483, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2641, debug_std_frame_3: 0.3103, debug_std_frame_4: 0.3601, debug_std_frame_5: 0.4089, loss_rl: -0.2331, loss_critic: 1.5428, loss_rl_bc: 0.0096, il_score: 0.6622, rl_score: 0.6703, prev_frame_loss_waypoint_0: 0.1538, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.6534, grad_norm: 51.6680, il_score_sum: 65.4103, rl_score_sum: 66.9868, score_diff: -1.5765, il_win: 76.0000, rl_win: 346.0000
2025-09-24 14:35:12,691 - mmdet - INFO - Epoch [18][280/3517]	lr: 9.821e-06, eta: 5:25:51, time: 0.811, data_time: 0.015, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1711, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3702, debug_std_frame_5: 0.4215, loss_rl: -0.2306, loss_critic: 1.3828, loss_rl_bc: 0.0090, il_score: 0.6663, rl_score: 0.6790, prev_frame_loss_waypoint_0: 0.1883, prev_frame_loss_rl_bc_0: 0.0300, loss: 1.5774, grad_norm: 46.1089, il_score_sum: 65.4103, rl_score_sum: 66.9868, score_diff: -1.5765, il_win: 76.0000, rl_win: 346.0000
2025-09-24 14:35:29,056 - mmdet - INFO - Epoch [18][300/3517]	lr: 9.821e-06, eta: 5:25:35, time: 0.818, data_time: 0.016, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1773, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2784, debug_std_frame_3: 0.3276, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4375, loss_rl: -0.2809, loss_critic: 1.0901, loss_rl_bc: 0.0105, il_score: 0.6815, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1875, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.2245, grad_norm: 43.6712, il_score_sum: 65.4103, rl_score_sum: 66.9868, score_diff: -1.5765, il_win: 76.0000, rl_win: 346.0000
2025-09-24 14:35:45,648 - mmdet - INFO - Epoch [18][320/3517]	lr: 9.821e-06, eta: 5:25:19, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1748, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2335, debug_std_frame_2: 0.2879, debug_std_frame_3: 0.3368, debug_std_frame_4: 0.3948, debug_std_frame_5: 0.4502, loss_rl: -0.2294, loss_critic: 1.8310, loss_rl_bc: 0.0082, il_score: 0.6095, rl_score: 0.6336, prev_frame_loss_waypoint_0: 0.1941, prev_frame_loss_rl_bc_0: 0.0096, loss: 2.0158, grad_norm: 52.0613, il_score_sum: 65.6634, rl_score_sum: 67.2315, score_diff: -1.5681, il_win: 76.0000, rl_win: 346.5000
2025-09-24 14:36:01,968 - mmdet - INFO - Epoch [18][340/3517]	lr: 9.821e-06, eta: 5:25:03, time: 0.816, data_time: 0.015, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1568, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2338, debug_std_frame_2: 0.2833, debug_std_frame_3: 0.3316, debug_std_frame_4: 0.3834, debug_std_frame_5: 0.4327, loss_rl: -0.2886, loss_critic: 1.4213, loss_rl_bc: 0.0021, il_score: 0.6623, rl_score: 0.7043, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.5153, grad_norm: 42.7728, il_score_sum: 65.6634, rl_score_sum: 67.2315, score_diff: -1.5681, il_win: 76.0000, rl_win: 346.5000
2025-09-24 14:36:18,395 - mmdet - INFO - Epoch [18][360/3517]	lr: 9.821e-06, eta: 5:24:48, time: 0.821, data_time: 0.015, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1958, debug_std_frame_0: 0.2150, debug_std_frame_1: 0.2411, debug_std_frame_2: 0.2997, debug_std_frame_3: 0.3528, debug_std_frame_4: 0.4111, debug_std_frame_5: 0.4709, loss_rl: -0.2139, loss_critic: 1.1777, loss_rl_bc: 0.0138, il_score: 0.6348, rl_score: 0.6433, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0144, loss: 1.4178, grad_norm: 46.1047, il_score_sum: 65.6634, rl_score_sum: 67.2315, score_diff: -1.5681, il_win: 76.0000, rl_win: 346.5000
2025-09-24 14:36:34,685 - mmdet - INFO - Epoch [18][380/3517]	lr: 9.821e-06, eta: 5:24:32, time: 0.815, data_time: 0.015, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1635, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2333, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3360, debug_std_frame_4: 0.3915, debug_std_frame_5: 0.4450, loss_rl: -0.2544, loss_critic: 1.2553, loss_rl_bc: 0.0071, il_score: 0.6600, rl_score: 0.6482, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.3945, grad_norm: 43.9680, il_score_sum: 65.6634, rl_score_sum: 67.2315, score_diff: -1.5681, il_win: 76.0000, rl_win: 346.5000
2025-09-24 14:36:50,905 - mmdet - INFO - Epoch [18][400/3517]	lr: 9.821e-06, eta: 5:24:16, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1693, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2351, debug_std_frame_2: 0.2900, debug_std_frame_3: 0.3425, debug_std_frame_4: 0.3956, debug_std_frame_5: 0.4496, loss_rl: -0.2919, loss_critic: 1.3908, loss_rl_bc: 0.0042, il_score: 0.6444, rl_score: 0.6819, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.4787, grad_norm: 40.8723, il_score_sum: 65.6634, rl_score_sum: 67.2315, score_diff: -1.5681, il_win: 76.0000, rl_win: 346.5000
2025-09-24 14:37:07,482 - mmdet - INFO - Epoch [18][420/3517]	lr: 9.821e-06, eta: 5:24:00, time: 0.828, data_time: 0.014, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1991, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2334, debug_std_frame_2: 0.2888, debug_std_frame_3: 0.3465, debug_std_frame_4: 0.4022, debug_std_frame_5: 0.4609, loss_rl: -0.2462, loss_critic: 1.1223, loss_rl_bc: 0.0089, il_score: 0.6750, rl_score: 0.6873, prev_frame_loss_waypoint_0: 0.2082, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.3303, grad_norm: 48.5863, il_score_sum: 65.4677, rl_score_sum: 67.0956, score_diff: -1.6279, il_win: 76.0000, rl_win: 347.0000
2025-09-24 14:37:23,660 - mmdet - INFO - Epoch [18][440/3517]	lr: 9.821e-06, eta: 5:23:44, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1728, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2320, debug_std_frame_2: 0.2853, debug_std_frame_3: 0.3372, debug_std_frame_4: 0.3912, debug_std_frame_5: 0.4458, loss_rl: -0.3083, loss_critic: 1.3016, loss_rl_bc: 0.0052, il_score: 0.6531, rl_score: 0.6692, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.3917, grad_norm: 42.9739, il_score_sum: 65.4677, rl_score_sum: 67.0956, score_diff: -1.6279, il_win: 76.0000, rl_win: 347.0000
2025-09-24 14:37:39,941 - mmdet - INFO - Epoch [18][460/3517]	lr: 9.821e-06, eta: 5:23:28, time: 0.814, data_time: 0.014, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1618, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2299, debug_std_frame_2: 0.2813, debug_std_frame_3: 0.3330, debug_std_frame_4: 0.3874, debug_std_frame_5: 0.4433, loss_rl: -0.2567, loss_critic: 1.3447, loss_rl_bc: 0.0051, il_score: 0.6346, rl_score: 0.6780, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.4747, grad_norm: 47.2381, il_score_sum: 65.4677, rl_score_sum: 67.0956, score_diff: -1.6279, il_win: 76.0000, rl_win: 347.0000
2025-09-24 14:37:56,088 - mmdet - INFO - Epoch [18][480/3517]	lr: 9.821e-06, eta: 5:23:12, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1832, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2755, debug_std_frame_3: 0.3238, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4230, loss_rl: -0.2933, loss_critic: 1.2516, loss_rl_bc: 0.0103, il_score: 0.6510, rl_score: 0.6984, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.3521, grad_norm: 45.0550, il_score_sum: 65.4677, rl_score_sum: 67.0956, score_diff: -1.6279, il_win: 76.0000, rl_win: 347.0000
2025-09-24 14:38:12,624 - mmdet - INFO - Epoch [18][500/3517]	lr: 9.821e-06, eta: 5:22:56, time: 0.827, data_time: 0.015, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1645, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3347, debug_std_frame_4: 0.3905, debug_std_frame_5: 0.4427, loss_rl: -0.2665, loss_critic: 1.3868, loss_rl_bc: 0.0044, il_score: 0.6981, rl_score: 0.6936, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.5063, grad_norm: 46.2086, il_score_sum: 65.4677, rl_score_sum: 67.0956, score_diff: -1.6279, il_win: 76.0000, rl_win: 347.0000
2025-09-24 14:38:29,186 - mmdet - INFO - Epoch [18][520/3517]	lr: 9.821e-06, eta: 5:22:40, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1922, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2916, debug_std_frame_3: 0.3466, debug_std_frame_4: 0.4044, debug_std_frame_5: 0.4605, loss_rl: -0.2022, loss_critic: 1.3342, loss_rl_bc: 0.0178, il_score: 0.6235, rl_score: 0.6505, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0201, loss: 1.5947, grad_norm: 45.0502, il_score_sum: 65.5461, rl_score_sum: 67.3037, score_diff: -1.7576, il_win: 76.0000, rl_win: 347.5000
2025-09-24 14:38:45,592 - mmdet - INFO - Epoch [18][540/3517]	lr: 9.821e-06, eta: 5:22:24, time: 0.821, data_time: 0.015, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1672, debug_std_frame_0: 0.2156, debug_std_frame_1: 0.2400, debug_std_frame_2: 0.2896, debug_std_frame_3: 0.3388, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4435, loss_rl: -0.2587, loss_critic: 1.3055, loss_rl_bc: 0.0097, il_score: 0.6902, rl_score: 0.6942, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4280, grad_norm: 43.1877, il_score_sum: 65.5461, rl_score_sum: 67.3037, score_diff: -1.7576, il_win: 76.0000, rl_win: 347.5000
2025-09-24 14:39:01,954 - mmdet - INFO - Epoch [18][560/3517]	lr: 9.821e-06, eta: 5:22:08, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1663, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2376, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3389, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4448, loss_rl: -0.2398, loss_critic: 1.2720, loss_rl_bc: 0.0077, il_score: 0.6546, rl_score: 0.6828, prev_frame_loss_waypoint_0: 0.2003, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.4482, grad_norm: 42.7096, il_score_sum: 65.5461, rl_score_sum: 67.3037, score_diff: -1.7576, il_win: 76.0000, rl_win: 347.5000
2025-09-24 14:39:18,304 - mmdet - INFO - Epoch [18][580/3517]	lr: 9.821e-06, eta: 5:21:52, time: 0.818, data_time: 0.015, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1705, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2878, debug_std_frame_3: 0.3383, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4395, loss_rl: -0.2778, loss_critic: 1.2414, loss_rl_bc: 0.0088, il_score: 0.6340, rl_score: 0.6661, prev_frame_loss_waypoint_0: 0.1968, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.3766, grad_norm: 40.8545, il_score_sum: 65.5461, rl_score_sum: 67.3037, score_diff: -1.7576, il_win: 76.0000, rl_win: 347.5000
2025-09-24 14:39:34,539 - mmdet - INFO - Epoch [18][600/3517]	lr: 9.821e-06, eta: 5:21:36, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1621, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2331, debug_std_frame_2: 0.2848, debug_std_frame_3: 0.3355, debug_std_frame_4: 0.3890, debug_std_frame_5: 0.4429, loss_rl: -0.2172, loss_critic: 1.2898, loss_rl_bc: 0.0053, il_score: 0.6430, rl_score: 0.6578, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.4594, grad_norm: 41.5240, il_score_sum: 65.5461, rl_score_sum: 67.3037, score_diff: -1.7576, il_win: 76.0000, rl_win: 347.5000
2025-09-24 14:39:50,927 - mmdet - INFO - Epoch [18][620/3517]	lr: 9.821e-06, eta: 5:21:20, time: 0.819, data_time: 0.014, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1471, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2799, debug_std_frame_3: 0.3293, debug_std_frame_4: 0.3825, debug_std_frame_5: 0.4311, loss_rl: -0.2767, loss_critic: 1.2044, loss_rl_bc: 0.0041, il_score: 0.6830, rl_score: 0.6724, prev_frame_loss_waypoint_0: 0.1714, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.2861, grad_norm: 46.4728, il_score_sum: 65.5422, rl_score_sum: 67.2827, score_diff: -1.7405, il_win: 76.0000, rl_win: 348.0000
2025-09-24 14:40:07,072 - mmdet - INFO - Epoch [18][640/3517]	lr: 9.821e-06, eta: 5:21:04, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1711, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4278, loss_rl: -0.2681, loss_critic: 1.3322, loss_rl_bc: 0.0048, il_score: 0.6716, rl_score: 0.6817, prev_frame_loss_waypoint_0: 0.1712, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.4460, grad_norm: 37.0856, il_score_sum: 65.5422, rl_score_sum: 67.2827, score_diff: -1.7405, il_win: 76.0000, rl_win: 348.0000
2025-09-24 14:40:23,497 - mmdet - INFO - Epoch [18][660/3517]	lr: 9.821e-06, eta: 5:20:48, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1910, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3331, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4423, loss_rl: -0.2460, loss_critic: 1.4485, loss_rl_bc: 0.0122, il_score: 0.6492, rl_score: 0.6529, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.6227, grad_norm: 46.9368, il_score_sum: 65.5422, rl_score_sum: 67.2827, score_diff: -1.7405, il_win: 76.0000, rl_win: 348.0000
2025-09-24 14:40:39,850 - mmdet - INFO - Epoch [18][680/3517]	lr: 9.821e-06, eta: 5:20:32, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1692, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2368, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3443, debug_std_frame_4: 0.4031, debug_std_frame_5: 0.4608, loss_rl: -0.2401, loss_critic: 1.2096, loss_rl_bc: 0.0072, il_score: 0.6415, rl_score: 0.6516, prev_frame_loss_waypoint_0: 0.1806, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.3619, grad_norm: 41.2438, il_score_sum: 65.5422, rl_score_sum: 67.2827, score_diff: -1.7405, il_win: 76.0000, rl_win: 348.0000
2025-09-24 14:40:56,166 - mmdet - INFO - Epoch [18][700/3517]	lr: 9.821e-06, eta: 5:20:16, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1514, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2893, debug_std_frame_3: 0.3450, debug_std_frame_4: 0.3995, debug_std_frame_5: 0.4538, loss_rl: -0.2169, loss_critic: 1.5913, loss_rl_bc: 0.0080, il_score: 0.6071, rl_score: 0.6133, prev_frame_loss_waypoint_0: 0.1739, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.7440, grad_norm: 51.2472, il_score_sum: 65.5422, rl_score_sum: 67.2827, score_diff: -1.7405, il_win: 76.0000, rl_win: 348.0000
2025-09-24 14:41:12,620 - mmdet - INFO - Epoch [18][720/3517]	lr: 9.821e-06, eta: 5:20:00, time: 0.823, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1888, debug_std_frame_0: 0.2106, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2880, debug_std_frame_3: 0.3414, debug_std_frame_4: 0.3968, debug_std_frame_5: 0.4506, loss_rl: -0.2669, loss_critic: 1.1874, loss_rl_bc: 0.0071, il_score: 0.6453, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.1971, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.3482, grad_norm: 57.5922, il_score_sum: 65.4175, rl_score_sum: 67.0772, score_diff: -1.6597, il_win: 76.0000, rl_win: 348.5000
2025-09-24 14:41:28,922 - mmdet - INFO - Epoch [18][740/3517]	lr: 9.821e-06, eta: 5:19:44, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1732, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2318, debug_std_frame_2: 0.2867, debug_std_frame_3: 0.3443, debug_std_frame_4: 0.4021, debug_std_frame_5: 0.4596, loss_rl: -0.2501, loss_critic: 1.3518, loss_rl_bc: 0.0075, il_score: 0.6501, rl_score: 0.6827, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.5135, grad_norm: 54.8995, il_score_sum: 65.4175, rl_score_sum: 67.0772, score_diff: -1.6597, il_win: 76.0000, rl_win: 348.5000
2025-09-24 14:41:45,232 - mmdet - INFO - Epoch [18][760/3517]	lr: 9.821e-06, eta: 5:19:28, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1768, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2372, debug_std_frame_2: 0.2936, debug_std_frame_3: 0.3519, debug_std_frame_4: 0.4132, debug_std_frame_5: 0.4722, loss_rl: -0.2555, loss_critic: 1.2005, loss_rl_bc: 0.0092, il_score: 0.6617, rl_score: 0.6821, prev_frame_loss_waypoint_0: 0.2040, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.3759, grad_norm: 39.4011, il_score_sum: 65.4175, rl_score_sum: 67.0772, score_diff: -1.6597, il_win: 76.0000, rl_win: 348.5000
2025-09-24 14:42:01,395 - mmdet - INFO - Epoch [18][780/3517]	lr: 9.821e-06, eta: 5:19:12, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1918, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2343, debug_std_frame_2: 0.2961, debug_std_frame_3: 0.3542, debug_std_frame_4: 0.4139, debug_std_frame_5: 0.4717, loss_rl: -0.2397, loss_critic: 1.1276, loss_rl_bc: 0.0125, il_score: 0.6587, rl_score: 0.6845, prev_frame_loss_waypoint_0: 0.2041, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.3348, grad_norm: 41.7828, il_score_sum: 65.4175, rl_score_sum: 67.0772, score_diff: -1.6597, il_win: 76.0000, rl_win: 348.5000
2025-09-24 14:42:17,593 - mmdet - INFO - Epoch [18][800/3517]	lr: 9.821e-06, eta: 5:18:56, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1639, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2373, debug_std_frame_2: 0.2931, debug_std_frame_3: 0.3461, debug_std_frame_4: 0.4043, debug_std_frame_5: 0.4629, loss_rl: -0.2518, loss_critic: 1.2339, loss_rl_bc: 0.0053, il_score: 0.6745, rl_score: 0.6894, prev_frame_loss_waypoint_0: 0.1825, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3667, grad_norm: 38.4568, il_score_sum: 65.4175, rl_score_sum: 67.0772, score_diff: -1.6597, il_win: 76.0000, rl_win: 348.5000
2025-09-24 14:42:34,054 - mmdet - INFO - Epoch [18][820/3517]	lr: 9.821e-06, eta: 5:18:40, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1829, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2339, debug_std_frame_2: 0.2865, debug_std_frame_3: 0.3399, debug_std_frame_4: 0.3977, debug_std_frame_5: 0.4580, loss_rl: -0.2736, loss_critic: 1.0559, loss_rl_bc: 0.0079, il_score: 0.6913, rl_score: 0.7025, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.1916, grad_norm: 41.2398, il_score_sum: 65.5101, rl_score_sum: 67.2558, score_diff: -1.7457, il_win: 76.0000, rl_win: 349.0000
2025-09-24 14:42:50,252 - mmdet - INFO - Epoch [18][840/3517]	lr: 9.821e-06, eta: 5:18:24, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1603, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2793, debug_std_frame_3: 0.3289, debug_std_frame_4: 0.3819, debug_std_frame_5: 0.4336, loss_rl: -0.2969, loss_critic: 1.6041, loss_rl_bc: 0.0021, il_score: 0.6411, rl_score: 0.6987, prev_frame_loss_waypoint_0: 0.1920, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6955, grad_norm: 44.3877, il_score_sum: 65.5101, rl_score_sum: 67.2558, score_diff: -1.7457, il_win: 76.0000, rl_win: 349.0000
2025-09-24 14:43:06,626 - mmdet - INFO - Epoch [18][860/3517]	lr: 9.821e-06, eta: 5:18:08, time: 0.819, data_time: 0.014, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1742, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2772, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3877, debug_std_frame_5: 0.4437, loss_rl: -0.2539, loss_critic: 1.3776, loss_rl_bc: 0.0083, il_score: 0.6415, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1762, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.5136, grad_norm: 51.2867, il_score_sum: 65.5101, rl_score_sum: 67.2558, score_diff: -1.7457, il_win: 76.0000, rl_win: 349.0000
2025-09-24 14:43:22,796 - mmdet - INFO - Epoch [18][880/3517]	lr: 9.821e-06, eta: 5:17:52, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1657, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2321, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3301, debug_std_frame_4: 0.3834, debug_std_frame_5: 0.4378, loss_rl: -0.2646, loss_critic: 1.0938, loss_rl_bc: 0.0029, il_score: 0.6476, rl_score: 0.6777, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.2289, grad_norm: 41.5884, il_score_sum: 65.5101, rl_score_sum: 67.2558, score_diff: -1.7457, il_win: 76.0000, rl_win: 349.0000
2025-09-24 14:43:38,952 - mmdet - INFO - Epoch [18][900/3517]	lr: 9.821e-06, eta: 5:17:36, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1525, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2264, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3716, debug_std_frame_5: 0.4227, loss_rl: -0.2984, loss_critic: 1.3586, loss_rl_bc: 0.0020, il_score: 0.6896, rl_score: 0.6929, prev_frame_loss_waypoint_0: 0.1674, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.4087, grad_norm: 39.0273, il_score_sum: 65.5101, rl_score_sum: 67.2558, score_diff: -1.7457, il_win: 76.0000, rl_win: 349.0000
2025-09-24 14:43:55,290 - mmdet - INFO - Epoch [18][920/3517]	lr: 9.821e-06, eta: 5:17:20, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1786, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2789, debug_std_frame_3: 0.3314, debug_std_frame_4: 0.3862, debug_std_frame_5: 0.4408, loss_rl: -0.2520, loss_critic: 1.1648, loss_rl_bc: 0.0071, il_score: 0.6790, rl_score: 0.6762, prev_frame_loss_waypoint_0: 0.1905, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.3256, grad_norm: 44.2056, il_score_sum: 65.5939, rl_score_sum: 67.4667, score_diff: -1.8728, il_win: 76.0000, rl_win: 349.5000
2025-09-24 14:44:11,740 - mmdet - INFO - Epoch [18][940/3517]	lr: 9.821e-06, eta: 5:17:04, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1844, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2290, debug_std_frame_2: 0.2792, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3888, debug_std_frame_5: 0.4509, loss_rl: -0.2182, loss_critic: 1.1828, loss_rl_bc: 0.0129, il_score: 0.6688, rl_score: 0.6669, prev_frame_loss_waypoint_0: 0.1961, prev_frame_loss_rl_bc_0: 0.0370, loss: 1.4218, grad_norm: 56.1658, il_score_sum: 65.5939, rl_score_sum: 67.4667, score_diff: -1.8728, il_win: 76.0000, rl_win: 349.5000
2025-09-24 14:44:28,022 - mmdet - INFO - Epoch [18][960/3517]	lr: 9.821e-06, eta: 5:16:49, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1713, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2338, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3368, debug_std_frame_4: 0.3934, debug_std_frame_5: 0.4481, loss_rl: -0.2409, loss_critic: 1.2718, loss_rl_bc: 0.0118, il_score: 0.6534, rl_score: 0.6797, prev_frame_loss_waypoint_0: 0.1943, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.4506, grad_norm: 33.5893, il_score_sum: 65.5939, rl_score_sum: 67.4667, score_diff: -1.8728, il_win: 76.0000, rl_win: 349.5000
2025-09-24 14:44:44,552 - mmdet - INFO - Epoch [18][980/3517]	lr: 9.821e-06, eta: 5:16:33, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1406, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3334, debug_std_frame_4: 0.3807, debug_std_frame_5: 0.4330, loss_rl: -0.3156, loss_critic: 1.3051, loss_rl_bc: 0.0032, il_score: 0.6912, rl_score: 0.7046, prev_frame_loss_waypoint_0: 0.1699, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.3348, grad_norm: 39.3737, il_score_sum: 65.5939, rl_score_sum: 67.4667, score_diff: -1.8728, il_win: 76.0000, rl_win: 349.5000
2025-09-24 14:45:00,878 - mmdet - INFO - Epoch [18][1000/3517]	lr: 9.821e-06, eta: 5:16:17, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1643, debug_std_frame_0: 0.2132, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2843, debug_std_frame_3: 0.3320, debug_std_frame_4: 0.3835, debug_std_frame_5: 0.4378, loss_rl: -0.2669, loss_critic: 1.3391, loss_rl_bc: 0.0060, il_score: 0.6314, rl_score: 0.6660, prev_frame_loss_waypoint_0: 0.1795, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.4529, grad_norm: 46.9720, il_score_sum: 65.5939, rl_score_sum: 67.4667, score_diff: -1.8728, il_win: 76.0000, rl_win: 349.5000
2025-09-24 14:45:17,299 - mmdet - INFO - Epoch [18][1020/3517]	lr: 9.821e-06, eta: 5:16:01, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1726, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2356, debug_std_frame_2: 0.2886, debug_std_frame_3: 0.3416, debug_std_frame_4: 0.3981, debug_std_frame_5: 0.4564, loss_rl: -0.2512, loss_critic: 1.2630, loss_rl_bc: 0.0048, il_score: 0.6552, rl_score: 0.6818, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4055, grad_norm: 35.0252, il_score_sum: 65.6231, rl_score_sum: 67.4726, score_diff: -1.8494, il_win: 76.0000, rl_win: 350.0000
2025-09-24 14:45:33,388 - mmdet - INFO - Epoch [18][1040/3517]	lr: 9.821e-06, eta: 5:15:45, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1797, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2797, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3825, debug_std_frame_5: 0.4351, loss_rl: -0.2280, loss_critic: 1.4613, loss_rl_bc: 0.0113, il_score: 0.6568, rl_score: 0.6642, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.6557, grad_norm: 48.4190, il_score_sum: 65.6231, rl_score_sum: 67.4726, score_diff: -1.8494, il_win: 76.0000, rl_win: 350.0000
2025-09-24 14:45:49,881 - mmdet - INFO - Epoch [18][1060/3517]	lr: 9.821e-06, eta: 5:15:29, time: 0.825, data_time: 0.015, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1861, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2382, debug_std_frame_2: 0.2882, debug_std_frame_3: 0.3438, debug_std_frame_4: 0.4018, debug_std_frame_5: 0.4588, loss_rl: -0.2347, loss_critic: 1.3904, loss_rl_bc: 0.0125, il_score: 0.6580, rl_score: 0.6569, prev_frame_loss_waypoint_0: 0.2037, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.6001, grad_norm: 50.8415, il_score_sum: 65.6231, rl_score_sum: 67.4726, score_diff: -1.8494, il_win: 76.0000, rl_win: 350.0000
2025-09-24 14:46:05,960 - mmdet - INFO - Epoch [18][1080/3517]	lr: 9.821e-06, eta: 5:15:13, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1654, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2392, debug_std_frame_2: 0.2928, debug_std_frame_3: 0.3474, debug_std_frame_4: 0.4075, debug_std_frame_5: 0.4664, loss_rl: -0.2602, loss_critic: 1.5398, loss_rl_bc: 0.0070, il_score: 0.6513, rl_score: 0.6691, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.6620, grad_norm: 32.0804, il_score_sum: 65.6231, rl_score_sum: 67.4726, score_diff: -1.8494, il_win: 76.0000, rl_win: 350.0000
2025-09-24 14:46:22,136 - mmdet - INFO - Epoch [18][1100/3517]	lr: 9.821e-06, eta: 5:14:57, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1507, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2455, debug_std_frame_2: 0.3023, debug_std_frame_3: 0.3595, debug_std_frame_4: 0.4184, debug_std_frame_5: 0.4770, loss_rl: -0.3152, loss_critic: 1.2642, loss_rl_bc: 0.0010, il_score: 0.6813, rl_score: 0.7109, prev_frame_loss_waypoint_0: 0.2059, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.3464, grad_norm: 41.0101, il_score_sum: 65.6231, rl_score_sum: 67.4726, score_diff: -1.8494, il_win: 76.0000, rl_win: 350.0000
2025-09-24 14:46:38,442 - mmdet - INFO - Epoch [18][1120/3517]	lr: 9.821e-06, eta: 5:14:41, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1760, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2355, debug_std_frame_2: 0.2855, debug_std_frame_3: 0.3420, debug_std_frame_4: 0.3994, debug_std_frame_5: 0.4550, loss_rl: -0.2595, loss_critic: 1.2979, loss_rl_bc: 0.0082, il_score: 0.6527, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4479, grad_norm: 57.6997, il_score_sum: 65.6695, rl_score_sum: 67.4839, score_diff: -1.8144, il_win: 76.0000, rl_win: 350.5000
2025-09-24 14:46:54,865 - mmdet - INFO - Epoch [18][1140/3517]	lr: 9.821e-06, eta: 5:14:25, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1688, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2829, debug_std_frame_3: 0.3356, debug_std_frame_4: 0.3892, debug_std_frame_5: 0.4471, loss_rl: -0.2577, loss_critic: 1.0033, loss_rl_bc: 0.0030, il_score: 0.6951, rl_score: 0.7151, prev_frame_loss_waypoint_0: 0.1669, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.1151, grad_norm: 38.7128, il_score_sum: 65.6695, rl_score_sum: 67.4839, score_diff: -1.8144, il_win: 76.0000, rl_win: 350.5000
2025-09-24 14:47:11,193 - mmdet - INFO - Epoch [18][1160/3517]	lr: 9.821e-06, eta: 5:14:09, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1719, debug_std_frame_0: 0.2165, debug_std_frame_1: 0.2375, debug_std_frame_2: 0.2827, debug_std_frame_3: 0.3321, debug_std_frame_4: 0.3826, debug_std_frame_5: 0.4359, loss_rl: -0.2571, loss_critic: 1.4783, loss_rl_bc: 0.0100, il_score: 0.6432, rl_score: 0.6720, prev_frame_loss_waypoint_0: 0.1867, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.6229, grad_norm: 43.6015, il_score_sum: 65.6695, rl_score_sum: 67.4839, score_diff: -1.8144, il_win: 76.0000, rl_win: 350.5000
2025-09-24 14:47:27,332 - mmdet - INFO - Epoch [18][1180/3517]	lr: 9.821e-06, eta: 5:13:53, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1725, debug_std_frame_0: 0.2140, debug_std_frame_1: 0.2372, debug_std_frame_2: 0.2831, debug_std_frame_3: 0.3369, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4500, loss_rl: -0.2560, loss_critic: 1.4870, loss_rl_bc: 0.0069, il_score: 0.6550, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.1799, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.6243, grad_norm: 48.2864, il_score_sum: 65.6695, rl_score_sum: 67.4839, score_diff: -1.8144, il_win: 76.0000, rl_win: 350.5000
2025-09-24 14:47:43,600 - mmdet - INFO - Epoch [18][1200/3517]	lr: 9.821e-06, eta: 5:13:37, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1628, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2763, debug_std_frame_3: 0.3274, debug_std_frame_4: 0.3830, debug_std_frame_5: 0.4422, loss_rl: -0.2536, loss_critic: 1.3507, loss_rl_bc: 0.0049, il_score: 0.6410, rl_score: 0.6777, prev_frame_loss_waypoint_0: 0.1668, prev_frame_loss_rl_bc_0: 0.0016, loss: 1.4601, grad_norm: 43.6480, il_score_sum: 65.6695, rl_score_sum: 67.4839, score_diff: -1.8144, il_win: 76.0000, rl_win: 350.5000
2025-09-24 14:48:00,011 - mmdet - INFO - Epoch [18][1220/3517]	lr: 9.821e-06, eta: 5:13:21, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1535, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3694, debug_std_frame_5: 0.4251, loss_rl: -0.2628, loss_critic: 1.4985, loss_rl_bc: 0.0043, il_score: 0.6571, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1560, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.5785, grad_norm: 29.2889, il_score_sum: 65.6873, rl_score_sum: 67.5320, score_diff: -1.8447, il_win: 76.0000, rl_win: 351.0000
2025-09-24 14:48:16,244 - mmdet - INFO - Epoch [18][1240/3517]	lr: 9.821e-06, eta: 5:13:05, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1686, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3175, debug_std_frame_4: 0.3686, debug_std_frame_5: 0.4251, loss_rl: -0.2820, loss_critic: 1.3279, loss_rl_bc: 0.0052, il_score: 0.6491, rl_score: 0.6821, prev_frame_loss_waypoint_0: 0.1791, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.4329, grad_norm: 57.1513, il_score_sum: 65.6873, rl_score_sum: 67.5320, score_diff: -1.8447, il_win: 76.0000, rl_win: 351.0000
2025-09-24 14:48:32,321 - mmdet - INFO - Epoch [18][1260/3517]	lr: 9.821e-06, eta: 5:12:49, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1529, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3220, debug_std_frame_4: 0.3728, debug_std_frame_5: 0.4261, loss_rl: -0.3020, loss_critic: 1.5359, loss_rl_bc: 0.0039, il_score: 0.6734, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1632, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.5836, grad_norm: 42.6498, il_score_sum: 65.6873, rl_score_sum: 67.5320, score_diff: -1.8447, il_win: 76.0000, rl_win: 351.0000
2025-09-24 14:48:48,538 - mmdet - INFO - Epoch [18][1280/3517]	lr: 9.821e-06, eta: 5:12:33, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1834, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2362, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3326, debug_std_frame_4: 0.3868, debug_std_frame_5: 0.4477, loss_rl: -0.2404, loss_critic: 1.5986, loss_rl_bc: 0.0129, il_score: 0.6557, rl_score: 0.6456, prev_frame_loss_waypoint_0: 0.1926, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.7891, grad_norm: 54.9865, il_score_sum: 65.6873, rl_score_sum: 67.5320, score_diff: -1.8447, il_win: 76.0000, rl_win: 351.0000
2025-09-24 14:49:04,944 - mmdet - INFO - Epoch [18][1300/3517]	lr: 9.821e-06, eta: 5:12:17, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0287, loss_waypoint: 0.1611, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2312, debug_std_frame_2: 0.2818, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3922, debug_std_frame_5: 0.4505, loss_rl: -0.2421, loss_critic: 1.5297, loss_rl_bc: 0.0055, il_score: 0.6533, rl_score: 0.6505, prev_frame_loss_waypoint_0: 0.1763, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.6643, grad_norm: 40.8536, il_score_sum: 65.6873, rl_score_sum: 67.5320, score_diff: -1.8447, il_win: 76.0000, rl_win: 351.0000
2025-09-24 14:49:21,574 - mmdet - INFO - Epoch [18][1320/3517]	lr: 9.821e-06, eta: 5:12:01, time: 0.831, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1807, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2311, debug_std_frame_2: 0.2865, debug_std_frame_3: 0.3435, debug_std_frame_4: 0.4036, debug_std_frame_5: 0.4671, loss_rl: -0.2270, loss_critic: 1.3012, loss_rl_bc: 0.0111, il_score: 0.6460, rl_score: 0.6588, prev_frame_loss_waypoint_0: 0.1931, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4964, grad_norm: 45.5987, il_score_sum: 65.6749, rl_score_sum: 67.4720, score_diff: -1.7972, il_win: 76.0000, rl_win: 351.5000
2025-09-24 14:49:37,625 - mmdet - INFO - Epoch [18][1340/3517]	lr: 9.821e-06, eta: 5:11:45, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1609, debug_std_frame_0: 0.2125, debug_std_frame_1: 0.2372, debug_std_frame_2: 0.2866, debug_std_frame_3: 0.3427, debug_std_frame_4: 0.4003, debug_std_frame_5: 0.4580, loss_rl: -0.2214, loss_critic: 1.1422, loss_rl_bc: 0.0059, il_score: 0.6717, rl_score: 0.6742, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.3053, grad_norm: 48.6224, il_score_sum: 65.6749, rl_score_sum: 67.4720, score_diff: -1.7972, il_win: 76.0000, rl_win: 351.5000
2025-09-24 14:49:53,802 - mmdet - INFO - Epoch [18][1360/3517]	lr: 9.821e-06, eta: 5:11:29, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0293, loss_waypoint: 0.1824, debug_std_frame_0: 0.2131, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3329, debug_std_frame_4: 0.3872, debug_std_frame_5: 0.4446, loss_rl: -0.2811, loss_critic: 1.4070, loss_rl_bc: 0.0082, il_score: 0.6450, rl_score: 0.6866, prev_frame_loss_waypoint_0: 0.1869, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.5411, grad_norm: 48.6675, il_score_sum: 65.6749, rl_score_sum: 67.4720, score_diff: -1.7972, il_win: 76.0000, rl_win: 351.5000
2025-09-24 14:50:09,981 - mmdet - INFO - Epoch [18][1380/3517]	lr: 9.821e-06, eta: 5:11:13, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1797, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2301, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3887, debug_std_frame_5: 0.4453, loss_rl: -0.2954, loss_critic: 1.1975, loss_rl_bc: 0.0108, il_score: 0.6907, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1822, prev_frame_loss_rl_bc_0: 0.0096, loss: 1.3112, grad_norm: 39.6723, il_score_sum: 65.6749, rl_score_sum: 67.4720, score_diff: -1.7972, il_win: 76.0000, rl_win: 351.5000
2025-09-24 14:50:26,217 - mmdet - INFO - Epoch [18][1400/3517]	lr: 9.821e-06, eta: 5:10:57, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1615, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2365, debug_std_frame_2: 0.2801, debug_std_frame_3: 0.3322, debug_std_frame_4: 0.3839, debug_std_frame_5: 0.4387, loss_rl: -0.2932, loss_critic: 1.4060, loss_rl_bc: 0.0046, il_score: 0.6140, rl_score: 0.6917, prev_frame_loss_waypoint_0: 0.1592, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.4668, grad_norm: 42.7987, il_score_sum: 65.6749, rl_score_sum: 67.4720, score_diff: -1.7972, il_win: 76.0000, rl_win: 351.5000
2025-09-24 14:50:42,469 - mmdet - INFO - Epoch [18][1420/3517]	lr: 9.821e-06, eta: 5:10:41, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1644, debug_std_frame_0: 0.2125, debug_std_frame_1: 0.2361, debug_std_frame_2: 0.2858, debug_std_frame_3: 0.3438, debug_std_frame_4: 0.3999, debug_std_frame_5: 0.4605, loss_rl: -0.2327, loss_critic: 1.5903, loss_rl_bc: 0.0065, il_score: 0.6577, rl_score: 0.6541, prev_frame_loss_waypoint_0: 0.1860, prev_frame_loss_rl_bc_0: 0.0168, loss: 1.7585, grad_norm: 38.4854, il_score_sum: 65.6798, rl_score_sum: 67.5237, score_diff: -1.8439, il_win: 76.0000, rl_win: 352.0000
2025-09-24 14:50:58,486 - mmdet - INFO - Epoch [18][1440/3517]	lr: 9.821e-06, eta: 5:10:25, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1769, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2850, debug_std_frame_3: 0.3417, debug_std_frame_4: 0.3956, debug_std_frame_5: 0.4547, loss_rl: -0.2395, loss_critic: 1.2626, loss_rl_bc: 0.0040, il_score: 0.6641, rl_score: 0.6583, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.4282, grad_norm: 51.8164, il_score_sum: 65.6798, rl_score_sum: 67.5237, score_diff: -1.8439, il_win: 76.0000, rl_win: 352.0000
2025-09-24 14:51:14,913 - mmdet - INFO - Epoch [18][1460/3517]	lr: 9.821e-06, eta: 5:10:09, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1891, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2803, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3916, debug_std_frame_5: 0.4526, loss_rl: -0.2439, loss_critic: 1.1753, loss_rl_bc: 0.0106, il_score: 0.6434, rl_score: 0.6711, prev_frame_loss_waypoint_0: 0.1890, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.3567, grad_norm: 45.9483, il_score_sum: 65.6798, rl_score_sum: 67.5237, score_diff: -1.8439, il_win: 76.0000, rl_win: 352.0000
2025-09-24 14:51:30,999 - mmdet - INFO - Epoch [18][1480/3517]	lr: 9.821e-06, eta: 5:09:53, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1579, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2797, debug_std_frame_3: 0.3333, debug_std_frame_4: 0.3860, debug_std_frame_5: 0.4438, loss_rl: -0.2923, loss_critic: 1.4973, loss_rl_bc: 0.0054, il_score: 0.6634, rl_score: 0.6889, prev_frame_loss_waypoint_0: 0.1667, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.5663, grad_norm: 39.4096, il_score_sum: 65.6798, rl_score_sum: 67.5237, score_diff: -1.8439, il_win: 76.0000, rl_win: 352.0000
2025-09-24 14:51:47,270 - mmdet - INFO - Epoch [18][1500/3517]	lr: 9.821e-06, eta: 5:09:37, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1835, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3456, debug_std_frame_4: 0.4022, debug_std_frame_5: 0.4658, loss_rl: -0.2134, loss_critic: 1.3804, loss_rl_bc: 0.0110, il_score: 0.6197, rl_score: 0.6359, prev_frame_loss_waypoint_0: 0.1792, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.5759, grad_norm: 39.4165, il_score_sum: 65.6798, rl_score_sum: 67.5237, score_diff: -1.8439, il_win: 76.0000, rl_win: 352.0000
2025-09-24 14:52:03,497 - mmdet - INFO - Epoch [18][1520/3517]	lr: 9.821e-06, eta: 5:09:21, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1660, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2350, debug_std_frame_2: 0.2854, debug_std_frame_3: 0.3393, debug_std_frame_4: 0.3947, debug_std_frame_5: 0.4573, loss_rl: -0.2404, loss_critic: 1.2169, loss_rl_bc: 0.0059, il_score: 0.6685, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.1827, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.3661, grad_norm: 38.1297, il_score_sum: 65.6393, rl_score_sum: 67.4364, score_diff: -1.7971, il_win: 76.0000, rl_win: 352.5000
2025-09-24 14:52:19,572 - mmdet - INFO - Epoch [18][1540/3517]	lr: 9.821e-06, eta: 5:09:05, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1961, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2366, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3463, debug_std_frame_4: 0.4035, debug_std_frame_5: 0.4666, loss_rl: -0.2562, loss_critic: 1.3181, loss_rl_bc: 0.0124, il_score: 0.6277, rl_score: 0.6665, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.5023, grad_norm: 62.1011, il_score_sum: 65.6393, rl_score_sum: 67.4364, score_diff: -1.7971, il_win: 76.0000, rl_win: 352.5000
2025-09-24 14:52:35,791 - mmdet - INFO - Epoch [18][1560/3517]	lr: 9.821e-06, eta: 5:08:49, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1811, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2346, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3402, debug_std_frame_4: 0.3994, debug_std_frame_5: 0.4576, loss_rl: -0.2326, loss_critic: 1.4571, loss_rl_bc: 0.0086, il_score: 0.6762, rl_score: 0.6676, prev_frame_loss_waypoint_0: 0.2046, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.6552, grad_norm: 49.1415, il_score_sum: 65.6393, rl_score_sum: 67.4364, score_diff: -1.7971, il_win: 76.0000, rl_win: 352.5000
2025-09-24 14:52:51,882 - mmdet - INFO - Epoch [18][1580/3517]	lr: 9.821e-06, eta: 5:08:33, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1576, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2796, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3885, debug_std_frame_5: 0.4466, loss_rl: -0.2478, loss_critic: 1.3019, loss_rl_bc: 0.0027, il_score: 0.6580, rl_score: 0.6883, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.4256, grad_norm: 41.7509, il_score_sum: 65.6393, rl_score_sum: 67.4364, score_diff: -1.7971, il_win: 76.0000, rl_win: 352.5000
2025-09-24 14:53:08,103 - mmdet - INFO - Epoch [18][1600/3517]	lr: 9.821e-06, eta: 5:08:16, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1686, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2319, debug_std_frame_2: 0.2783, debug_std_frame_3: 0.3303, debug_std_frame_4: 0.3839, debug_std_frame_5: 0.4381, loss_rl: -0.2753, loss_critic: 1.1803, loss_rl_bc: 0.0040, il_score: 0.6934, rl_score: 0.7095, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.2908, grad_norm: 48.5331, il_score_sum: 65.6393, rl_score_sum: 67.4364, score_diff: -1.7971, il_win: 76.0000, rl_win: 352.5000
2025-09-24 14:53:24,622 - mmdet - INFO - Epoch [18][1620/3517]	lr: 9.821e-06, eta: 5:08:01, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1453, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2254, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3739, debug_std_frame_5: 0.4315, loss_rl: -0.2598, loss_critic: 1.5203, loss_rl_bc: 0.0030, il_score: 0.6446, rl_score: 0.6712, prev_frame_loss_waypoint_0: 0.1637, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.6030, grad_norm: 42.9781, il_score_sum: 65.6311, rl_score_sum: 67.4477, score_diff: -1.8167, il_win: 76.0000, rl_win: 353.0000
2025-09-24 14:53:40,663 - mmdet - INFO - Epoch [18][1640/3517]	lr: 9.821e-06, eta: 5:07:45, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1580, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3288, debug_std_frame_4: 0.3807, debug_std_frame_5: 0.4373, loss_rl: -0.2881, loss_critic: 1.5781, loss_rl_bc: 0.0050, il_score: 0.6420, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.1748, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.6633, grad_norm: 46.5880, il_score_sum: 65.6311, rl_score_sum: 67.4477, score_diff: -1.8167, il_win: 76.0000, rl_win: 353.0000
2025-09-24 14:53:56,718 - mmdet - INFO - Epoch [18][1660/3517]	lr: 9.821e-06, eta: 5:07:28, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1888, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3815, debug_std_frame_5: 0.4437, loss_rl: -0.2642, loss_critic: 1.1223, loss_rl_bc: 0.0281, il_score: 0.6717, rl_score: 0.6996, prev_frame_loss_waypoint_0: 0.2024, prev_frame_loss_rl_bc_0: 0.0287, loss: 1.3327, grad_norm: 59.8114, il_score_sum: 65.6311, rl_score_sum: 67.4477, score_diff: -1.8167, il_win: 76.0000, rl_win: 353.0000
2025-09-24 14:54:12,693 - mmdet - INFO - Epoch [18][1680/3517]	lr: 9.821e-06, eta: 5:07:12, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1678, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2813, debug_std_frame_3: 0.3424, debug_std_frame_4: 0.4026, debug_std_frame_5: 0.4706, loss_rl: -0.2536, loss_critic: 1.3415, loss_rl_bc: 0.0068, il_score: 0.6613, rl_score: 0.6598, prev_frame_loss_waypoint_0: 0.1605, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.4562, grad_norm: 51.0092, il_score_sum: 65.6311, rl_score_sum: 67.4477, score_diff: -1.8167, il_win: 76.0000, rl_win: 353.0000
2025-09-24 14:54:28,869 - mmdet - INFO - Epoch [18][1700/3517]	lr: 9.821e-06, eta: 5:06:56, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1659, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3264, debug_std_frame_4: 0.3856, debug_std_frame_5: 0.4478, loss_rl: -0.2203, loss_critic: 1.1461, loss_rl_bc: 0.0038, il_score: 0.6499, rl_score: 0.7006, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.3181, grad_norm: 56.6677, il_score_sum: 65.6311, rl_score_sum: 67.4477, score_diff: -1.8167, il_win: 76.0000, rl_win: 353.0000
2025-09-24 14:54:45,251 - mmdet - INFO - Epoch [18][1720/3517]	lr: 9.821e-06, eta: 5:06:40, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1601, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2253, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3182, debug_std_frame_4: 0.3701, debug_std_frame_5: 0.4259, loss_rl: -0.2438, loss_critic: 1.1485, loss_rl_bc: 0.0054, il_score: 0.6537, rl_score: 0.6812, prev_frame_loss_waypoint_0: 0.1902, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.2941, grad_norm: 50.3226, il_score_sum: 65.6637, rl_score_sum: 67.5198, score_diff: -1.8561, il_win: 76.0000, rl_win: 353.5000
2025-09-24 14:55:01,458 - mmdet - INFO - Epoch [18][1740/3517]	lr: 9.821e-06, eta: 5:06:24, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1645, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3355, debug_std_frame_4: 0.3902, debug_std_frame_5: 0.4467, loss_rl: -0.2843, loss_critic: 1.6048, loss_rl_bc: 0.0069, il_score: 0.6460, rl_score: 0.6567, prev_frame_loss_waypoint_0: 0.1748, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.7024, grad_norm: 49.2135, il_score_sum: 65.6637, rl_score_sum: 67.5198, score_diff: -1.8561, il_win: 76.0000, rl_win: 353.5000
2025-09-24 14:55:17,701 - mmdet - INFO - Epoch [18][1760/3517]	lr: 9.821e-06, eta: 5:06:08, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1730, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3755, debug_std_frame_5: 0.4323, loss_rl: -0.2648, loss_critic: 1.3584, loss_rl_bc: 0.0087, il_score: 0.6763, rl_score: 0.6967, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.4813, grad_norm: 43.5281, il_score_sum: 65.6637, rl_score_sum: 67.5198, score_diff: -1.8561, il_win: 76.0000, rl_win: 353.5000
2025-09-24 14:55:34,008 - mmdet - INFO - Epoch [18][1780/3517]	lr: 9.821e-06, eta: 5:05:52, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1682, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2750, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3789, debug_std_frame_5: 0.4363, loss_rl: -0.2897, loss_critic: 1.3808, loss_rl_bc: 0.0017, il_score: 0.6599, rl_score: 0.6879, prev_frame_loss_waypoint_0: 0.1893, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.4808, grad_norm: 50.2945, il_score_sum: 65.6637, rl_score_sum: 67.5198, score_diff: -1.8561, il_win: 76.0000, rl_win: 353.5000
2025-09-24 14:55:50,201 - mmdet - INFO - Epoch [18][1800/3517]	lr: 9.821e-06, eta: 5:05:36, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1603, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2771, debug_std_frame_3: 0.3348, debug_std_frame_4: 0.3881, debug_std_frame_5: 0.4471, loss_rl: -0.2849, loss_critic: 1.5551, loss_rl_bc: 0.0059, il_score: 0.6521, rl_score: 0.6570, prev_frame_loss_waypoint_0: 0.1735, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.6406, grad_norm: 52.9952, il_score_sum: 65.6637, rl_score_sum: 67.5198, score_diff: -1.8561, il_win: 76.0000, rl_win: 353.5000
2025-09-24 14:56:06,365 - mmdet - INFO - Epoch [18][1820/3517]	lr: 9.821e-06, eta: 5:05:20, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1802, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2780, debug_std_frame_3: 0.3332, debug_std_frame_4: 0.3886, debug_std_frame_5: 0.4462, loss_rl: -0.2775, loss_critic: 1.3010, loss_rl_bc: 0.0121, il_score: 0.6609, rl_score: 0.6642, prev_frame_loss_waypoint_0: 0.1982, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.4553, grad_norm: 59.7382, il_score_sum: 65.6542, rl_score_sum: 67.4846, score_diff: -1.8304, il_win: 76.0000, rl_win: 354.0000
2025-09-24 14:56:22,420 - mmdet - INFO - Epoch [18][1840/3517]	lr: 9.821e-06, eta: 5:05:04, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1581, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2795, debug_std_frame_3: 0.3343, debug_std_frame_4: 0.3908, debug_std_frame_5: 0.4515, loss_rl: -0.2951, loss_critic: 1.3694, loss_rl_bc: 0.0058, il_score: 0.6871, rl_score: 0.6946, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.4585, grad_norm: 38.1865, il_score_sum: 65.6542, rl_score_sum: 67.4846, score_diff: -1.8304, il_win: 76.0000, rl_win: 354.0000
2025-09-24 14:56:38,741 - mmdet - INFO - Epoch [18][1860/3517]	lr: 9.821e-06, eta: 5:04:48, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1624, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2283, debug_std_frame_2: 0.2749, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3794, debug_std_frame_5: 0.4387, loss_rl: -0.2885, loss_critic: 1.1925, loss_rl_bc: 0.0024, il_score: 0.6728, rl_score: 0.6985, prev_frame_loss_waypoint_0: 0.1757, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.2769, grad_norm: 57.1199, il_score_sum: 65.6542, rl_score_sum: 67.4846, score_diff: -1.8304, il_win: 76.0000, rl_win: 354.0000
2025-09-24 14:56:55,150 - mmdet - INFO - Epoch [18][1880/3517]	lr: 9.821e-06, eta: 5:04:32, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1651, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3863, debug_std_frame_5: 0.4460, loss_rl: -0.2807, loss_critic: 1.2676, loss_rl_bc: 0.0036, il_score: 0.6708, rl_score: 0.7066, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.3583, grad_norm: 42.5186, il_score_sum: 65.6542, rl_score_sum: 67.4846, score_diff: -1.8304, il_win: 76.0000, rl_win: 354.0000
2025-09-24 14:57:11,633 - mmdet - INFO - Epoch [18][1900/3517]	lr: 9.821e-06, eta: 5:04:16, time: 0.824, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1697, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3296, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4464, loss_rl: -0.2704, loss_critic: 1.2689, loss_rl_bc: 0.0059, il_score: 0.6814, rl_score: 0.6962, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.3892, grad_norm: 47.3259, il_score_sum: 65.6542, rl_score_sum: 67.4846, score_diff: -1.8304, il_win: 76.0000, rl_win: 354.0000
2025-09-24 14:57:27,877 - mmdet - INFO - Epoch [18][1920/3517]	lr: 9.821e-06, eta: 5:04:00, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1526, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3184, debug_std_frame_4: 0.3721, debug_std_frame_5: 0.4282, loss_rl: -0.3251, loss_critic: 1.3359, loss_rl_bc: 0.0038, il_score: 0.6790, rl_score: 0.7042, prev_frame_loss_waypoint_0: 0.1662, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.3641, grad_norm: 38.3246, il_score_sum: 65.7811, rl_score_sum: 67.6181, score_diff: -1.8370, il_win: 76.0000, rl_win: 354.5000
2025-09-24 14:57:44,138 - mmdet - INFO - Epoch [18][1940/3517]	lr: 9.821e-06, eta: 5:03:44, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1666, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2810, debug_std_frame_3: 0.3381, debug_std_frame_4: 0.3962, debug_std_frame_5: 0.4572, loss_rl: -0.2486, loss_critic: 1.3900, loss_rl_bc: 0.0061, il_score: 0.6509, rl_score: 0.6683, prev_frame_loss_waypoint_0: 0.1698, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.5168, grad_norm: 49.7689, il_score_sum: 65.7811, rl_score_sum: 67.6181, score_diff: -1.8370, il_win: 76.0000, rl_win: 354.5000
2025-09-24 14:58:00,290 - mmdet - INFO - Epoch [18][1960/3517]	lr: 9.821e-06, eta: 5:03:28, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1797, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2349, debug_std_frame_2: 0.2839, debug_std_frame_3: 0.3391, debug_std_frame_4: 0.3941, debug_std_frame_5: 0.4507, loss_rl: -0.2693, loss_critic: 1.2446, loss_rl_bc: 0.0094, il_score: 0.6905, rl_score: 0.6851, prev_frame_loss_waypoint_0: 0.1897, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.3918, grad_norm: 36.7851, il_score_sum: 65.7811, rl_score_sum: 67.6181, score_diff: -1.8370, il_win: 76.0000, rl_win: 354.5000
2025-09-24 14:58:16,576 - mmdet - INFO - Epoch [18][1980/3517]	lr: 9.821e-06, eta: 5:03:12, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1572, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2907, debug_std_frame_3: 0.3440, debug_std_frame_4: 0.3995, debug_std_frame_5: 0.4567, loss_rl: -0.2491, loss_critic: 1.3334, loss_rl_bc: 0.0056, il_score: 0.6984, rl_score: 0.6818, prev_frame_loss_waypoint_0: 0.1951, prev_frame_loss_rl_bc_0: 0.0141, loss: 1.4842, grad_norm: 46.5933, il_score_sum: 65.7811, rl_score_sum: 67.6181, score_diff: -1.8370, il_win: 76.0000, rl_win: 354.5000
2025-09-24 14:58:32,570 - mmdet - INFO - Epoch [18][2000/3517]	lr: 9.821e-06, eta: 5:02:56, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1820, debug_std_frame_0: 0.2140, debug_std_frame_1: 0.2429, debug_std_frame_2: 0.2943, debug_std_frame_3: 0.3445, debug_std_frame_4: 0.4013, debug_std_frame_5: 0.4628, loss_rl: -0.2709, loss_critic: 1.3715, loss_rl_bc: 0.0145, il_score: 0.6803, rl_score: 0.6679, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0126, loss: 1.5272, grad_norm: 53.8032, il_score_sum: 65.7811, rl_score_sum: 67.6181, score_diff: -1.8370, il_win: 76.0000, rl_win: 354.5000
2025-09-24 14:58:48,963 - mmdet - INFO - Epoch [18][2020/3517]	lr: 9.821e-06, eta: 5:02:40, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0288, loss_waypoint: 0.1505, debug_std_frame_0: 0.2150, debug_std_frame_1: 0.2447, debug_std_frame_2: 0.2934, debug_std_frame_3: 0.3442, debug_std_frame_4: 0.3943, debug_std_frame_5: 0.4491, loss_rl: -0.2788, loss_critic: 1.0255, loss_rl_bc: 0.0016, il_score: 0.6983, rl_score: 0.7123, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.1200, grad_norm: 45.6145, il_score_sum: 65.8791, rl_score_sum: 67.6497, score_diff: -1.7706, il_win: 76.0000, rl_win: 355.4500
2025-09-24 14:59:05,175 - mmdet - INFO - Epoch [18][2040/3517]	lr: 9.821e-06, eta: 5:02:24, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1744, debug_std_frame_0: 0.2140, debug_std_frame_1: 0.2446, debug_std_frame_2: 0.2946, debug_std_frame_3: 0.3484, debug_std_frame_4: 0.4032, debug_std_frame_5: 0.4614, loss_rl: -0.2182, loss_critic: 1.3381, loss_rl_bc: 0.0131, il_score: 0.6885, rl_score: 0.6756, prev_frame_loss_waypoint_0: 0.1845, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.5286, grad_norm: 67.3153, il_score_sum: 65.8791, rl_score_sum: 67.6497, score_diff: -1.7706, il_win: 76.0000, rl_win: 355.4500
2025-09-24 14:59:21,451 - mmdet - INFO - Epoch [18][2060/3517]	lr: 9.821e-06, eta: 5:02:08, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1587, debug_std_frame_0: 0.2160, debug_std_frame_1: 0.2468, debug_std_frame_2: 0.2979, debug_std_frame_3: 0.3505, debug_std_frame_4: 0.4056, debug_std_frame_5: 0.4679, loss_rl: -0.3022, loss_critic: 1.1676, loss_rl_bc: 0.0045, il_score: 0.6802, rl_score: 0.6905, prev_frame_loss_waypoint_0: 0.1867, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.2549, grad_norm: 49.5191, il_score_sum: 65.8791, rl_score_sum: 67.6497, score_diff: -1.7706, il_win: 76.0000, rl_win: 355.4500
2025-09-24 14:59:37,822 - mmdet - INFO - Epoch [18][2080/3517]	lr: 9.821e-06, eta: 5:01:52, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1805, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2399, debug_std_frame_2: 0.2874, debug_std_frame_3: 0.3410, debug_std_frame_4: 0.3952, debug_std_frame_5: 0.4535, loss_rl: -0.2063, loss_critic: 1.2141, loss_rl_bc: 0.0103, il_score: 0.6600, rl_score: 0.6684, prev_frame_loss_waypoint_0: 0.1826, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.4171, grad_norm: 63.9998, il_score_sum: 65.8791, rl_score_sum: 67.6497, score_diff: -1.7706, il_win: 76.0000, rl_win: 355.4500
2025-09-24 14:59:54,154 - mmdet - INFO - Epoch [18][2100/3517]	lr: 9.821e-06, eta: 5:01:36, time: 0.817, data_time: 0.014, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1812, debug_std_frame_0: 0.2164, debug_std_frame_1: 0.2462, debug_std_frame_2: 0.2963, debug_std_frame_3: 0.3478, debug_std_frame_4: 0.4018, debug_std_frame_5: 0.4592, loss_rl: -0.2756, loss_critic: 1.3933, loss_rl_bc: 0.0105, il_score: 0.6461, rl_score: 0.6757, prev_frame_loss_waypoint_0: 0.1915, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.5395, grad_norm: 52.7467, il_score_sum: 65.8791, rl_score_sum: 67.6497, score_diff: -1.7706, il_win: 76.0000, rl_win: 355.4500
2025-09-24 15:00:10,436 - mmdet - INFO - Epoch [18][2120/3517]	lr: 9.821e-06, eta: 5:01:20, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1725, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2404, debug_std_frame_2: 0.2921, debug_std_frame_3: 0.3476, debug_std_frame_4: 0.4026, debug_std_frame_5: 0.4633, loss_rl: -0.2712, loss_critic: 1.3673, loss_rl_bc: 0.0036, il_score: 0.6645, rl_score: 0.6920, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.4892, grad_norm: 55.6304, il_score_sum: 65.9830, rl_score_sum: 67.7124, score_diff: -1.7293, il_win: 76.0000, rl_win: 356.3500
2025-09-24 15:00:26,392 - mmdet - INFO - Epoch [18][2140/3517]	lr: 9.821e-06, eta: 5:01:04, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1743, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2832, debug_std_frame_3: 0.3370, debug_std_frame_4: 0.3904, debug_std_frame_5: 0.4493, loss_rl: -0.2734, loss_critic: 1.2886, loss_rl_bc: 0.0048, il_score: 0.6582, rl_score: 0.6841, prev_frame_loss_waypoint_0: 0.1832, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.4098, grad_norm: 43.1139, il_score_sum: 65.9830, rl_score_sum: 67.7124, score_diff: -1.7293, il_win: 76.0000, rl_win: 356.3500
2025-09-24 15:00:42,426 - mmdet - INFO - Epoch [18][2160/3517]	lr: 9.821e-06, eta: 5:00:48, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1581, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2770, debug_std_frame_3: 0.3330, debug_std_frame_4: 0.3883, debug_std_frame_5: 0.4528, loss_rl: -0.2776, loss_critic: 1.4363, loss_rl_bc: 0.0033, il_score: 0.6613, rl_score: 0.6748, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.5356, grad_norm: 40.3569, il_score_sum: 65.9830, rl_score_sum: 67.7124, score_diff: -1.7293, il_win: 76.0000, rl_win: 356.3500
2025-09-24 15:00:58,387 - mmdet - INFO - Epoch [18][2180/3517]	lr: 9.821e-06, eta: 5:00:32, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1768, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2319, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3747, debug_std_frame_5: 0.4353, loss_rl: -0.2575, loss_critic: 1.1789, loss_rl_bc: 0.0064, il_score: 0.7013, rl_score: 0.7049, prev_frame_loss_waypoint_0: 0.1740, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.3087, grad_norm: 39.6776, il_score_sum: 65.9830, rl_score_sum: 67.7124, score_diff: -1.7293, il_win: 76.0000, rl_win: 356.3500
2025-09-24 15:01:14,505 - mmdet - INFO - Epoch [18][2200/3517]	lr: 9.821e-06, eta: 5:00:16, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1628, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3226, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4358, loss_rl: -0.2529, loss_critic: 1.3004, loss_rl_bc: 0.0045, il_score: 0.6492, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1819, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.4327, grad_norm: 33.8213, il_score_sum: 65.9830, rl_score_sum: 67.7124, score_diff: -1.7293, il_win: 76.0000, rl_win: 356.3500
2025-09-24 15:01:30,725 - mmdet - INFO - Epoch [18][2220/3517]	lr: 9.821e-06, eta: 5:00:00, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1633, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2813, debug_std_frame_3: 0.3364, debug_std_frame_4: 0.3912, debug_std_frame_5: 0.4534, loss_rl: -0.2072, loss_critic: 1.4016, loss_rl_bc: 0.0075, il_score: 0.6455, rl_score: 0.6523, prev_frame_loss_waypoint_0: 0.1948, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.5989, grad_norm: 35.4918, il_score_sum: 66.0536, rl_score_sum: 67.7894, score_diff: -1.7358, il_win: 76.0000, rl_win: 357.2500
2025-09-24 15:01:46,712 - mmdet - INFO - Epoch [18][2240/3517]	lr: 9.821e-06, eta: 4:59:44, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1719, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2322, debug_std_frame_2: 0.2801, debug_std_frame_3: 0.3304, debug_std_frame_4: 0.3841, debug_std_frame_5: 0.4444, loss_rl: -0.3355, loss_critic: 1.3444, loss_rl_bc: 0.0045, il_score: 0.6517, rl_score: 0.6913, prev_frame_loss_waypoint_0: 0.1774, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.3930, grad_norm: 50.6211, il_score_sum: 66.0536, rl_score_sum: 67.7894, score_diff: -1.7358, il_win: 76.0000, rl_win: 357.2500
2025-09-24 15:02:02,836 - mmdet - INFO - Epoch [18][2260/3517]	lr: 9.821e-06, eta: 4:59:28, time: 0.806, data_time: 0.014, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1823, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2771, debug_std_frame_3: 0.3299, debug_std_frame_4: 0.3851, debug_std_frame_5: 0.4493, loss_rl: -0.2458, loss_critic: 1.4476, loss_rl_bc: 0.0099, il_score: 0.6663, rl_score: 0.6853, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.6080, grad_norm: 48.7804, il_score_sum: 66.0536, rl_score_sum: 67.7894, score_diff: -1.7358, il_win: 76.0000, rl_win: 357.2500
2025-09-24 15:02:18,959 - mmdet - INFO - Epoch [18][2280/3517]	lr: 9.821e-06, eta: 4:59:12, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1575, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3675, debug_std_frame_5: 0.4253, loss_rl: -0.2350, loss_critic: 1.4464, loss_rl_bc: 0.0039, il_score: 0.6655, rl_score: 0.6707, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.5753, grad_norm: 34.2722, il_score_sum: 66.0536, rl_score_sum: 67.7894, score_diff: -1.7358, il_win: 76.0000, rl_win: 357.2500
2025-09-24 15:02:35,076 - mmdet - INFO - Epoch [18][2300/3517]	lr: 9.821e-06, eta: 4:58:56, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1503, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3717, debug_std_frame_5: 0.4311, loss_rl: -0.3287, loss_critic: 1.3064, loss_rl_bc: 0.0008, il_score: 0.6943, rl_score: 0.7049, prev_frame_loss_waypoint_0: 0.1800, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.3404, grad_norm: 40.3898, il_score_sum: 66.0536, rl_score_sum: 67.7894, score_diff: -1.7358, il_win: 76.0000, rl_win: 357.2500
2025-09-24 15:02:51,260 - mmdet - INFO - Epoch [18][2320/3517]	lr: 9.821e-06, eta: 4:58:40, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1626, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2646, debug_std_frame_3: 0.3105, debug_std_frame_4: 0.3608, debug_std_frame_5: 0.4157, loss_rl: -0.2535, loss_critic: 1.5724, loss_rl_bc: 0.0090, il_score: 0.6365, rl_score: 0.6533, prev_frame_loss_waypoint_0: 0.1815, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.7079, grad_norm: 41.7880, il_score_sum: 66.0528, rl_score_sum: 67.8093, score_diff: -1.7565, il_win: 76.0000, rl_win: 358.1500
2025-09-24 15:03:07,551 - mmdet - INFO - Epoch [18][2340/3517]	lr: 9.821e-06, eta: 4:58:24, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1901, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2326, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3339, debug_std_frame_4: 0.3926, debug_std_frame_5: 0.4568, loss_rl: -0.2235, loss_critic: 0.9844, loss_rl_bc: 0.0118, il_score: 0.6644, rl_score: 0.6834, prev_frame_loss_waypoint_0: 0.2000, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.1989, grad_norm: 42.8863, il_score_sum: 66.0528, rl_score_sum: 67.8093, score_diff: -1.7565, il_win: 76.0000, rl_win: 358.1500
2025-09-24 15:03:23,504 - mmdet - INFO - Epoch [18][2360/3517]	lr: 9.821e-06, eta: 4:58:07, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1779, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3305, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4453, loss_rl: -0.2784, loss_critic: 1.0457, loss_rl_bc: 0.0066, il_score: 0.6877, rl_score: 0.7133, prev_frame_loss_waypoint_0: 0.1916, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.1804, grad_norm: 38.3091, il_score_sum: 66.0528, rl_score_sum: 67.8093, score_diff: -1.7565, il_win: 76.0000, rl_win: 358.1500
2025-09-24 15:03:39,437 - mmdet - INFO - Epoch [18][2380/3517]	lr: 9.821e-06, eta: 4:57:51, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1697, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2359, debug_std_frame_2: 0.2847, debug_std_frame_3: 0.3357, debug_std_frame_4: 0.3911, debug_std_frame_5: 0.4498, loss_rl: -0.2686, loss_critic: 1.2631, loss_rl_bc: 0.0043, il_score: 0.6751, rl_score: 0.6841, prev_frame_loss_waypoint_0: 0.1782, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.3804, grad_norm: 34.2983, il_score_sum: 66.0528, rl_score_sum: 67.8093, score_diff: -1.7565, il_win: 76.0000, rl_win: 358.1500
2025-09-24 15:03:55,345 - mmdet - INFO - Epoch [18][2400/3517]	lr: 9.821e-06, eta: 4:57:35, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1676, debug_std_frame_0: 0.2159, debug_std_frame_1: 0.2392, debug_std_frame_2: 0.2851, debug_std_frame_3: 0.3366, debug_std_frame_4: 0.3930, debug_std_frame_5: 0.4555, loss_rl: -0.2702, loss_critic: 1.3421, loss_rl_bc: 0.0095, il_score: 0.6805, rl_score: 0.6779, prev_frame_loss_waypoint_0: 0.1772, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4597, grad_norm: 40.4086, il_score_sum: 66.0528, rl_score_sum: 67.8093, score_diff: -1.7565, il_win: 76.0000, rl_win: 358.1500
2025-09-24 15:04:11,596 - mmdet - INFO - Epoch [18][2420/3517]	lr: 9.821e-06, eta: 4:57:19, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1892, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2868, debug_std_frame_3: 0.3413, debug_std_frame_4: 0.3985, debug_std_frame_5: 0.4629, loss_rl: -0.2384, loss_critic: 1.0974, loss_rl_bc: 0.0079, il_score: 0.6369, rl_score: 0.6601, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.2757, grad_norm: 49.0166, il_score_sum: 66.1395, rl_score_sum: 67.8746, score_diff: -1.7351, il_win: 76.0000, rl_win: 359.0500
2025-09-24 15:04:27,747 - mmdet - INFO - Epoch [18][2440/3517]	lr: 9.821e-06, eta: 4:57:03, time: 0.808, data_time: 0.014, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1812, debug_std_frame_0: 0.2143, debug_std_frame_1: 0.2393, debug_std_frame_2: 0.2893, debug_std_frame_3: 0.3428, debug_std_frame_4: 0.3995, debug_std_frame_5: 0.4591, loss_rl: -0.2301, loss_critic: 1.2089, loss_rl_bc: 0.0055, il_score: 0.6589, rl_score: 0.6795, prev_frame_loss_waypoint_0: 0.1997, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.4050, grad_norm: 43.9748, il_score_sum: 66.1395, rl_score_sum: 67.8746, score_diff: -1.7351, il_win: 76.0000, rl_win: 359.0500
2025-09-24 15:04:43,813 - mmdet - INFO - Epoch [18][2460/3517]	lr: 9.821e-06, eta: 4:56:47, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0292, loss_waypoint: 0.1881, debug_std_frame_0: 0.2151, debug_std_frame_1: 0.2377, debug_std_frame_2: 0.2858, debug_std_frame_3: 0.3393, debug_std_frame_4: 0.3961, debug_std_frame_5: 0.4586, loss_rl: -0.2628, loss_critic: 1.1780, loss_rl_bc: 0.0082, il_score: 0.6458, rl_score: 0.6689, prev_frame_loss_waypoint_0: 0.1917, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.3413, grad_norm: 43.2182, il_score_sum: 66.1395, rl_score_sum: 67.8746, score_diff: -1.7351, il_win: 76.0000, rl_win: 359.0500
2025-09-24 15:04:59,903 - mmdet - INFO - Epoch [18][2480/3517]	lr: 9.821e-06, eta: 4:56:31, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1935, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2337, debug_std_frame_2: 0.2781, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3799, debug_std_frame_5: 0.4364, loss_rl: -0.2579, loss_critic: 1.4909, loss_rl_bc: 0.0345, il_score: 0.6663, rl_score: 0.6748, prev_frame_loss_waypoint_0: 0.1923, prev_frame_loss_rl_bc_0: 0.0286, loss: 1.7092, grad_norm: 48.8293, il_score_sum: 66.1395, rl_score_sum: 67.8746, score_diff: -1.7351, il_win: 76.0000, rl_win: 359.0500
2025-09-24 15:05:16,250 - mmdet - INFO - Epoch [18][2500/3517]	lr: 9.821e-06, eta: 4:56:15, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1655, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2412, debug_std_frame_2: 0.2889, debug_std_frame_3: 0.3410, debug_std_frame_4: 0.3938, debug_std_frame_5: 0.4548, loss_rl: -0.2870, loss_critic: 1.3619, loss_rl_bc: 0.0058, il_score: 0.6540, rl_score: 0.6772, prev_frame_loss_waypoint_0: 0.1825, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.4666, grad_norm: 46.5283, il_score_sum: 66.1395, rl_score_sum: 67.8746, score_diff: -1.7351, il_win: 76.0000, rl_win: 359.0500
2025-09-24 15:05:32,597 - mmdet - INFO - Epoch [18][2520/3517]	lr: 9.821e-06, eta: 4:55:59, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1539, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2891, debug_std_frame_3: 0.3405, debug_std_frame_4: 0.3928, debug_std_frame_5: 0.4467, loss_rl: -0.2704, loss_critic: 1.4789, loss_rl_bc: 0.0037, il_score: 0.6912, rl_score: 0.6997, prev_frame_loss_waypoint_0: 0.1652, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.5636, grad_norm: 51.8045, il_score_sum: 66.1617, rl_score_sum: 67.8538, score_diff: -1.6921, il_win: 76.0000, rl_win: 359.9500
2025-09-24 15:05:48,655 - mmdet - INFO - Epoch [18][2540/3517]	lr: 9.821e-06, eta: 4:55:43, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1565, debug_std_frame_0: 0.2169, debug_std_frame_1: 0.2412, debug_std_frame_2: 0.2866, debug_std_frame_3: 0.3348, debug_std_frame_4: 0.3868, debug_std_frame_5: 0.4468, loss_rl: -0.2788, loss_critic: 1.3705, loss_rl_bc: 0.0036, il_score: 0.6839, rl_score: 0.6773, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.4636, grad_norm: 36.5293, il_score_sum: 66.1617, rl_score_sum: 67.8538, score_diff: -1.6921, il_win: 76.0000, rl_win: 359.9500
2025-09-24 15:06:04,690 - mmdet - INFO - Epoch [18][2560/3517]	lr: 9.821e-06, eta: 4:55:27, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1612, debug_std_frame_0: 0.2129, debug_std_frame_1: 0.2378, debug_std_frame_2: 0.2832, debug_std_frame_3: 0.3352, debug_std_frame_4: 0.3858, debug_std_frame_5: 0.4441, loss_rl: -0.2571, loss_critic: 1.3604, loss_rl_bc: 0.0029, il_score: 0.6393, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4824, grad_norm: 44.0215, il_score_sum: 66.1617, rl_score_sum: 67.8538, score_diff: -1.6921, il_win: 76.0000, rl_win: 359.9500
2025-09-24 15:06:21,098 - mmdet - INFO - Epoch [18][2580/3517]	lr: 9.821e-06, eta: 4:55:11, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1788, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2311, debug_std_frame_2: 0.2771, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3789, debug_std_frame_5: 0.4354, loss_rl: -0.2374, loss_critic: 1.3822, loss_rl_bc: 0.0064, il_score: 0.6607, rl_score: 0.6910, prev_frame_loss_waypoint_0: 0.1881, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.5546, grad_norm: 48.8761, il_score_sum: 66.1617, rl_score_sum: 67.8538, score_diff: -1.6921, il_win: 76.0000, rl_win: 359.9500
2025-09-24 15:06:37,086 - mmdet - INFO - Epoch [18][2600/3517]	lr: 9.821e-06, eta: 4:54:55, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1657, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2762, debug_std_frame_3: 0.3272, debug_std_frame_4: 0.3795, debug_std_frame_5: 0.4370, loss_rl: -0.2842, loss_critic: 1.2758, loss_rl_bc: 0.0083, il_score: 0.6696, rl_score: 0.6909, prev_frame_loss_waypoint_0: 0.1762, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.3734, grad_norm: 37.3116, il_score_sum: 66.1617, rl_score_sum: 67.8538, score_diff: -1.6921, il_win: 76.0000, rl_win: 359.9500
2025-09-24 15:06:53,380 - mmdet - INFO - Epoch [18][2620/3517]	lr: 9.821e-06, eta: 4:54:39, time: 0.814, data_time: 0.014, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1541, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2326, debug_std_frame_2: 0.2765, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3807, debug_std_frame_5: 0.4386, loss_rl: -0.2452, loss_critic: 1.7065, loss_rl_bc: 0.0044, il_score: 0.6624, rl_score: 0.6768, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.8255, grad_norm: 39.9916, il_score_sum: 66.1958, rl_score_sum: 67.8869, score_diff: -1.6911, il_win: 76.0000, rl_win: 360.8500
2025-09-24 15:07:09,393 - mmdet - INFO - Epoch [18][2640/3517]	lr: 9.821e-06, eta: 4:54:23, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1811, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2798, debug_std_frame_3: 0.3340, debug_std_frame_4: 0.3886, debug_std_frame_5: 0.4495, loss_rl: -0.2423, loss_critic: 0.9876, loss_rl_bc: 0.0094, il_score: 0.6708, rl_score: 0.6893, prev_frame_loss_waypoint_0: 0.2131, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.1920, grad_norm: 46.8971, il_score_sum: 66.1958, rl_score_sum: 67.8869, score_diff: -1.6911, il_win: 76.0000, rl_win: 360.8500
2025-09-24 15:07:25,647 - mmdet - INFO - Epoch [18][2660/3517]	lr: 9.821e-06, eta: 4:54:07, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1562, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2842, debug_std_frame_3: 0.3372, debug_std_frame_4: 0.3908, debug_std_frame_5: 0.4483, loss_rl: -0.2627, loss_critic: 1.4841, loss_rl_bc: 0.0039, il_score: 0.6872, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1628, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.5787, grad_norm: 34.2089, il_score_sum: 66.1958, rl_score_sum: 67.8869, score_diff: -1.6911, il_win: 76.0000, rl_win: 360.8500
2025-09-24 15:07:41,875 - mmdet - INFO - Epoch [18][2680/3517]	lr: 9.821e-06, eta: 4:53:51, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1526, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2314, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4248, loss_rl: -0.2897, loss_critic: 1.0218, loss_rl_bc: 0.0015, il_score: 0.7142, rl_score: 0.7134, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.1015, grad_norm: 44.2157, il_score_sum: 66.1958, rl_score_sum: 67.8869, score_diff: -1.6911, il_win: 76.0000, rl_win: 360.8500
2025-09-24 15:07:58,100 - mmdet - INFO - Epoch [18][2700/3517]	lr: 9.821e-06, eta: 4:53:35, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1708, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2714, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4314, loss_rl: -0.2726, loss_critic: 1.5991, loss_rl_bc: 0.0058, il_score: 0.6556, rl_score: 0.6688, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.7070, grad_norm: 49.1356, il_score_sum: 66.1958, rl_score_sum: 67.8869, score_diff: -1.6911, il_win: 76.0000, rl_win: 360.8500
2025-09-24 15:08:14,408 - mmdet - INFO - Epoch [18][2720/3517]	lr: 9.821e-06, eta: 4:53:19, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1564, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2295, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4306, loss_rl: -0.2915, loss_critic: 1.5425, loss_rl_bc: 0.0032, il_score: 0.6958, rl_score: 0.6938, prev_frame_loss_waypoint_0: 0.1766, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.6221, grad_norm: 37.6659, il_score_sum: 66.3675, rl_score_sum: 68.0326, score_diff: -1.6651, il_win: 76.0000, rl_win: 361.7000
2025-09-24 15:08:30,535 - mmdet - INFO - Epoch [18][2740/3517]	lr: 9.821e-06, eta: 4:53:03, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1694, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2268, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3213, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4290, loss_rl: -0.2647, loss_critic: 1.2834, loss_rl_bc: 0.0031, il_score: 0.6701, rl_score: 0.7043, prev_frame_loss_waypoint_0: 0.1893, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.4189, grad_norm: 31.1754, il_score_sum: 66.3675, rl_score_sum: 68.0326, score_diff: -1.6651, il_win: 76.0000, rl_win: 361.7000
2025-09-24 15:08:46,759 - mmdet - INFO - Epoch [18][2760/3517]	lr: 9.821e-06, eta: 4:52:47, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1572, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3769, debug_std_frame_5: 0.4376, loss_rl: -0.2466, loss_critic: 1.3585, loss_rl_bc: 0.0072, il_score: 0.6777, rl_score: 0.6870, prev_frame_loss_waypoint_0: 0.1838, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.4943, grad_norm: 39.2630, il_score_sum: 66.3675, rl_score_sum: 68.0326, score_diff: -1.6651, il_win: 76.0000, rl_win: 361.7000
2025-09-24 15:09:02,820 - mmdet - INFO - Epoch [18][2780/3517]	lr: 9.821e-06, eta: 4:52:31, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1569, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2750, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3799, debug_std_frame_5: 0.4393, loss_rl: -0.2483, loss_critic: 1.4646, loss_rl_bc: 0.0040, il_score: 0.6594, rl_score: 0.6593, prev_frame_loss_waypoint_0: 0.1825, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.5962, grad_norm: 40.7143, il_score_sum: 66.3675, rl_score_sum: 68.0326, score_diff: -1.6651, il_win: 76.0000, rl_win: 361.7000
2025-09-24 15:09:18,665 - mmdet - INFO - Epoch [18][2800/3517]	lr: 9.821e-06, eta: 4:52:14, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1666, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2828, debug_std_frame_3: 0.3336, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4461, loss_rl: -0.2045, loss_critic: 1.5424, loss_rl_bc: 0.0086, il_score: 0.6145, rl_score: 0.6483, prev_frame_loss_waypoint_0: 0.1883, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.7382, grad_norm: 40.8823, il_score_sum: 66.3675, rl_score_sum: 68.0326, score_diff: -1.6651, il_win: 76.0000, rl_win: 361.7000
2025-09-24 15:09:35,161 - mmdet - INFO - Epoch [18][2820/3517]	lr: 9.821e-06, eta: 4:51:58, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1629, debug_std_frame_0: 0.2153, debug_std_frame_1: 0.2345, debug_std_frame_2: 0.2798, debug_std_frame_3: 0.3275, debug_std_frame_4: 0.3783, debug_std_frame_5: 0.4336, loss_rl: -0.2870, loss_critic: 1.6239, loss_rl_bc: 0.0062, il_score: 0.6661, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.7174, grad_norm: 51.4513, il_score_sum: 66.3558, rl_score_sum: 67.9854, score_diff: -1.6295, il_win: 76.0000, rl_win: 362.5500
2025-09-24 15:09:51,217 - mmdet - INFO - Epoch [18][2840/3517]	lr: 9.821e-06, eta: 4:51:42, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1679, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2356, debug_std_frame_2: 0.2858, debug_std_frame_3: 0.3377, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4535, loss_rl: -0.2681, loss_critic: 1.1915, loss_rl_bc: 0.0084, il_score: 0.6644, rl_score: 0.6708, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.3219, grad_norm: 46.8068, il_score_sum: 66.3558, rl_score_sum: 67.9854, score_diff: -1.6295, il_win: 76.0000, rl_win: 362.5500
2025-09-24 15:10:07,370 - mmdet - INFO - Epoch [18][2860/3517]	lr: 9.821e-06, eta: 4:51:26, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1798, debug_std_frame_0: 0.2149, debug_std_frame_1: 0.2390, debug_std_frame_2: 0.2870, debug_std_frame_3: 0.3360, debug_std_frame_4: 0.3925, debug_std_frame_5: 0.4543, loss_rl: -0.2412, loss_critic: 1.5345, loss_rl_bc: 0.0072, il_score: 0.6412, rl_score: 0.6599, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.6957, grad_norm: 60.8475, il_score_sum: 66.3558, rl_score_sum: 67.9854, score_diff: -1.6295, il_win: 76.0000, rl_win: 362.5500
2025-09-24 15:10:23,438 - mmdet - INFO - Epoch [18][2880/3517]	lr: 9.821e-06, eta: 4:51:10, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1613, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2364, debug_std_frame_2: 0.2928, debug_std_frame_3: 0.3481, debug_std_frame_4: 0.4087, debug_std_frame_5: 0.4735, loss_rl: -0.2517, loss_critic: 1.4081, loss_rl_bc: 0.0077, il_score: 0.6566, rl_score: 0.6500, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.5453, grad_norm: 51.5929, il_score_sum: 66.3558, rl_score_sum: 67.9854, score_diff: -1.6295, il_win: 76.0000, rl_win: 362.5500
2025-09-24 15:10:39,745 - mmdet - INFO - Epoch [18][2900/3517]	lr: 9.821e-06, eta: 4:50:54, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1661, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2329, debug_std_frame_2: 0.2853, debug_std_frame_3: 0.3384, debug_std_frame_4: 0.3919, debug_std_frame_5: 0.4534, loss_rl: -0.2966, loss_critic: 1.4342, loss_rl_bc: 0.0044, il_score: 0.6555, rl_score: 0.6948, prev_frame_loss_waypoint_0: 0.1736, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5134, grad_norm: 53.0929, il_score_sum: 66.3558, rl_score_sum: 67.9854, score_diff: -1.6295, il_win: 76.0000, rl_win: 362.5500
2025-09-24 15:10:56,015 - mmdet - INFO - Epoch [18][2920/3517]	lr: 9.821e-06, eta: 4:50:38, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1796, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2731, debug_std_frame_3: 0.3250, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4371, loss_rl: -0.2782, loss_critic: 1.2644, loss_rl_bc: 0.0078, il_score: 0.6681, rl_score: 0.6819, prev_frame_loss_waypoint_0: 0.1753, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.3857, grad_norm: 35.7052, il_score_sum: 66.3188, rl_score_sum: 67.8725, score_diff: -1.5536, il_win: 76.0000, rl_win: 363.4000
2025-09-24 15:11:12,078 - mmdet - INFO - Epoch [18][2940/3517]	lr: 9.821e-06, eta: 4:50:22, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1888, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2860, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3921, debug_std_frame_5: 0.4553, loss_rl: -0.2136, loss_critic: 1.2239, loss_rl_bc: 0.0125, il_score: 0.6217, rl_score: 0.6423, prev_frame_loss_waypoint_0: 0.1933, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.4454, grad_norm: 38.5589, il_score_sum: 66.3188, rl_score_sum: 67.8725, score_diff: -1.5536, il_win: 76.0000, rl_win: 363.4000
2025-09-24 15:11:28,227 - mmdet - INFO - Epoch [18][2960/3517]	lr: 9.821e-06, eta: 4:50:06, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1753, debug_std_frame_0: 0.2142, debug_std_frame_1: 0.2406, debug_std_frame_2: 0.2928, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.3991, debug_std_frame_5: 0.4620, loss_rl: -0.2626, loss_critic: 1.3044, loss_rl_bc: 0.0078, il_score: 0.6691, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.4422, grad_norm: 32.9404, il_score_sum: 66.3188, rl_score_sum: 67.8725, score_diff: -1.5536, il_win: 76.0000, rl_win: 363.4000
2025-09-24 15:11:44,524 - mmdet - INFO - Epoch [18][2980/3517]	lr: 9.821e-06, eta: 4:49:50, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1739, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2382, debug_std_frame_2: 0.2913, debug_std_frame_3: 0.3433, debug_std_frame_4: 0.3982, debug_std_frame_5: 0.4606, loss_rl: -0.2339, loss_critic: 1.1878, loss_rl_bc: 0.0085, il_score: 0.6703, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.3494, grad_norm: 44.1973, il_score_sum: 66.3188, rl_score_sum: 67.8725, score_diff: -1.5536, il_win: 76.0000, rl_win: 363.4000
2025-09-24 15:12:00,603 - mmdet - INFO - Epoch [18][3000/3517]	lr: 9.821e-06, eta: 4:49:34, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1435, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2332, debug_std_frame_2: 0.2836, debug_std_frame_3: 0.3343, debug_std_frame_4: 0.3848, debug_std_frame_5: 0.4459, loss_rl: -0.2880, loss_critic: 1.4815, loss_rl_bc: 0.0013, il_score: 0.6680, rl_score: 0.6853, prev_frame_loss_waypoint_0: 0.1705, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.5407, grad_norm: 50.1521, il_score_sum: 66.3188, rl_score_sum: 67.8725, score_diff: -1.5536, il_win: 76.0000, rl_win: 363.4000
2025-09-24 15:12:16,894 - mmdet - INFO - Epoch [18][3020/3517]	lr: 9.821e-06, eta: 4:49:18, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1668, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2766, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3720, debug_std_frame_5: 0.4268, loss_rl: -0.2891, loss_critic: 0.9545, loss_rl_bc: 0.0022, il_score: 0.7093, rl_score: 0.7126, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.0537, grad_norm: 39.1821, il_score_sum: 66.3424, rl_score_sum: 67.8878, score_diff: -1.5454, il_win: 76.0000, rl_win: 364.2500
2025-09-24 15:12:32,914 - mmdet - INFO - Epoch [18][3040/3517]	lr: 9.821e-06, eta: 4:49:02, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1656, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2299, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4299, loss_rl: -0.2818, loss_critic: 1.1207, loss_rl_bc: 0.0049, il_score: 0.6925, rl_score: 0.7170, prev_frame_loss_waypoint_0: 0.1741, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.2199, grad_norm: 41.5468, il_score_sum: 66.3424, rl_score_sum: 67.8878, score_diff: -1.5454, il_win: 76.0000, rl_win: 364.2500
2025-09-24 15:12:49,014 - mmdet - INFO - Epoch [18][3060/3517]	lr: 9.821e-06, eta: 4:48:46, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1573, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2753, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4342, loss_rl: -0.2685, loss_critic: 1.4225, loss_rl_bc: 0.0042, il_score: 0.6612, rl_score: 0.6666, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.5153, grad_norm: 35.8578, il_score_sum: 66.3424, rl_score_sum: 67.8878, score_diff: -1.5454, il_win: 76.0000, rl_win: 364.2500
2025-09-24 15:13:05,061 - mmdet - INFO - Epoch [18][3080/3517]	lr: 9.821e-06, eta: 4:48:30, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1674, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2281, debug_std_frame_2: 0.2769, debug_std_frame_3: 0.3266, debug_std_frame_4: 0.3777, debug_std_frame_5: 0.4359, loss_rl: -0.2609, loss_critic: 1.1487, loss_rl_bc: 0.0034, il_score: 0.6765, rl_score: 0.7184, prev_frame_loss_waypoint_0: 0.1800, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.2731, grad_norm: 55.1691, il_score_sum: 66.3424, rl_score_sum: 67.8878, score_diff: -1.5454, il_win: 76.0000, rl_win: 364.2500
2025-09-24 15:13:20,999 - mmdet - INFO - Epoch [18][3100/3517]	lr: 9.821e-06, eta: 4:48:14, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1544, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3102, debug_std_frame_4: 0.3581, debug_std_frame_5: 0.4143, loss_rl: -0.2882, loss_critic: 1.4562, loss_rl_bc: 0.0025, il_score: 0.6167, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.5259, grad_norm: 45.4086, il_score_sum: 66.3424, rl_score_sum: 67.8878, score_diff: -1.5454, il_win: 76.0000, rl_win: 364.2500
2025-09-24 15:13:37,103 - mmdet - INFO - Epoch [18][3120/3517]	lr: 9.821e-06, eta: 4:47:58, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1608, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2264, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3266, debug_std_frame_4: 0.3818, debug_std_frame_5: 0.4407, loss_rl: -0.2816, loss_critic: 1.5313, loss_rl_bc: 0.0061, il_score: 0.6752, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.6339, grad_norm: 48.5394, il_score_sum: 66.3717, rl_score_sum: 67.9470, score_diff: -1.5753, il_win: 76.0000, rl_win: 365.1000
2025-09-24 15:13:53,264 - mmdet - INFO - Epoch [18][3140/3517]	lr: 9.821e-06, eta: 4:47:42, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1626, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3628, debug_std_frame_5: 0.4196, loss_rl: -0.2692, loss_critic: 1.4544, loss_rl_bc: 0.0055, il_score: 0.6633, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.1726, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.5599, grad_norm: 51.9982, il_score_sum: 66.3717, rl_score_sum: 67.9470, score_diff: -1.5753, il_win: 76.0000, rl_win: 365.1000
2025-09-24 15:14:09,245 - mmdet - INFO - Epoch [18][3160/3517]	lr: 9.821e-06, eta: 4:47:26, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1478, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4159, loss_rl: -0.2810, loss_critic: 1.5116, loss_rl_bc: 0.0037, il_score: 0.6697, rl_score: 0.6866, prev_frame_loss_waypoint_0: 0.1664, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.5800, grad_norm: 38.0992, il_score_sum: 66.3717, rl_score_sum: 67.9470, score_diff: -1.5753, il_win: 76.0000, rl_win: 365.1000
2025-09-24 15:14:25,326 - mmdet - INFO - Epoch [18][3180/3517]	lr: 9.821e-06, eta: 4:47:09, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1741, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3332, debug_std_frame_4: 0.3833, debug_std_frame_5: 0.4389, loss_rl: -0.2570, loss_critic: 1.2504, loss_rl_bc: 0.0123, il_score: 0.6838, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1871, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4058, grad_norm: 41.4168, il_score_sum: 66.3717, rl_score_sum: 67.9470, score_diff: -1.5753, il_win: 76.0000, rl_win: 365.1000
2025-09-24 15:14:41,457 - mmdet - INFO - Epoch [18][3200/3517]	lr: 9.821e-06, eta: 4:46:53, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1655, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2321, debug_std_frame_2: 0.2854, debug_std_frame_3: 0.3356, debug_std_frame_4: 0.3843, debug_std_frame_5: 0.4413, loss_rl: -0.2504, loss_critic: 1.4489, loss_rl_bc: 0.0066, il_score: 0.6615, rl_score: 0.6791, prev_frame_loss_waypoint_0: 0.1665, prev_frame_loss_rl_bc_0: 0.0030, loss: 1.5687, grad_norm: 33.0040, il_score_sum: 66.3717, rl_score_sum: 67.9470, score_diff: -1.5753, il_win: 76.0000, rl_win: 365.1000
2025-09-24 15:14:57,836 - mmdet - INFO - Epoch [18][3220/3517]	lr: 9.821e-06, eta: 4:46:37, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1604, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2753, debug_std_frame_3: 0.3233, debug_std_frame_4: 0.3701, debug_std_frame_5: 0.4260, loss_rl: -0.2991, loss_critic: 1.1594, loss_rl_bc: 0.0025, il_score: 0.6930, rl_score: 0.7219, prev_frame_loss_waypoint_0: 0.1746, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.2306, grad_norm: 47.9478, il_score_sum: 66.4636, rl_score_sum: 67.9828, score_diff: -1.5192, il_win: 76.0000, rl_win: 365.9500
2025-09-24 15:15:13,831 - mmdet - INFO - Epoch [18][3240/3517]	lr: 9.821e-06, eta: 4:46:21, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1658, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2304, debug_std_frame_2: 0.2781, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3773, debug_std_frame_5: 0.4369, loss_rl: -0.2542, loss_critic: 1.4303, loss_rl_bc: 0.0112, il_score: 0.6807, rl_score: 0.6796, prev_frame_loss_waypoint_0: 0.1692, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.5559, grad_norm: 54.8935, il_score_sum: 66.4636, rl_score_sum: 67.9828, score_diff: -1.5192, il_win: 76.0000, rl_win: 365.9500
2025-09-24 15:15:29,897 - mmdet - INFO - Epoch [18][3260/3517]	lr: 9.821e-06, eta: 4:46:05, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1435, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2808, debug_std_frame_3: 0.3306, debug_std_frame_4: 0.3784, debug_std_frame_5: 0.4322, loss_rl: -0.2678, loss_critic: 1.5594, loss_rl_bc: 0.0031, il_score: 0.6390, rl_score: 0.6588, prev_frame_loss_waypoint_0: 0.1634, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.6374, grad_norm: 51.1170, il_score_sum: 66.4636, rl_score_sum: 67.9828, score_diff: -1.5192, il_win: 76.0000, rl_win: 365.9500
2025-09-24 15:15:45,799 - mmdet - INFO - Epoch [18][3280/3517]	lr: 9.821e-06, eta: 4:45:49, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0290, loss_waypoint: 0.1861, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2345, debug_std_frame_2: 0.2923, debug_std_frame_3: 0.3449, debug_std_frame_4: 0.4016, debug_std_frame_5: 0.4596, loss_rl: -0.2203, loss_critic: 1.0416, loss_rl_bc: 0.0104, il_score: 0.6557, rl_score: 0.6689, prev_frame_loss_waypoint_0: 0.1950, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.2512, grad_norm: 44.1051, il_score_sum: 66.4636, rl_score_sum: 67.9828, score_diff: -1.5192, il_win: 76.0000, rl_win: 365.9500
2025-09-24 15:16:02,002 - mmdet - INFO - Epoch [18][3300/3517]	lr: 9.821e-06, eta: 4:45:33, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1776, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2848, debug_std_frame_3: 0.3359, debug_std_frame_4: 0.3908, debug_std_frame_5: 0.4479, loss_rl: -0.2244, loss_critic: 1.1312, loss_rl_bc: 0.0099, il_score: 0.6482, rl_score: 0.6611, prev_frame_loss_waypoint_0: 0.1898, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.3194, grad_norm: 43.2048, il_score_sum: 66.4636, rl_score_sum: 67.9828, score_diff: -1.5192, il_win: 76.0000, rl_win: 365.9500
2025-09-24 15:16:18,254 - mmdet - INFO - Epoch [18][3320/3517]	lr: 9.821e-06, eta: 4:45:17, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1797, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2351, debug_std_frame_2: 0.2889, debug_std_frame_3: 0.3388, debug_std_frame_4: 0.3927, debug_std_frame_5: 0.4516, loss_rl: -0.2404, loss_critic: 1.2776, loss_rl_bc: 0.0080, il_score: 0.6353, rl_score: 0.6569, prev_frame_loss_waypoint_0: 0.1935, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.4550, grad_norm: 45.0294, il_score_sum: 66.4611, rl_score_sum: 67.9880, score_diff: -1.5269, il_win: 76.0000, rl_win: 366.8000
2025-09-24 15:16:34,241 - mmdet - INFO - Epoch [18][3340/3517]	lr: 9.821e-06, eta: 4:45:01, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1599, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2860, debug_std_frame_3: 0.3346, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4402, loss_rl: -0.2592, loss_critic: 1.3577, loss_rl_bc: 0.0033, il_score: 0.6306, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.4731, grad_norm: 42.3742, il_score_sum: 66.4611, rl_score_sum: 67.9880, score_diff: -1.5269, il_win: 76.0000, rl_win: 366.8000
2025-09-24 15:16:50,350 - mmdet - INFO - Epoch [18][3360/3517]	lr: 9.821e-06, eta: 4:44:45, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1595, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2331, debug_std_frame_2: 0.2842, debug_std_frame_3: 0.3321, debug_std_frame_4: 0.3842, debug_std_frame_5: 0.4418, loss_rl: -0.2426, loss_critic: 1.3480, loss_rl_bc: 0.0056, il_score: 0.6355, rl_score: 0.6543, prev_frame_loss_waypoint_0: 0.1732, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.4802, grad_norm: 49.0221, il_score_sum: 66.4611, rl_score_sum: 67.9880, score_diff: -1.5269, il_win: 76.0000, rl_win: 366.8000
2025-09-24 15:17:06,560 - mmdet - INFO - Epoch [18][3380/3517]	lr: 9.821e-06, eta: 4:44:29, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1802, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2347, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3311, debug_std_frame_4: 0.3811, debug_std_frame_5: 0.4377, loss_rl: -0.2265, loss_critic: 1.3290, loss_rl_bc: 0.0083, il_score: 0.6425, rl_score: 0.6710, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.5125, grad_norm: 52.7034, il_score_sum: 66.4611, rl_score_sum: 67.9880, score_diff: -1.5269, il_win: 76.0000, rl_win: 366.8000
2025-09-24 15:17:22,509 - mmdet - INFO - Epoch [18][3400/3517]	lr: 9.821e-06, eta: 4:44:13, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1633, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2279, debug_std_frame_2: 0.2758, debug_std_frame_3: 0.3229, debug_std_frame_4: 0.3697, debug_std_frame_5: 0.4240, loss_rl: -0.2667, loss_critic: 1.4839, loss_rl_bc: 0.0080, il_score: 0.6450, rl_score: 0.6653, prev_frame_loss_waypoint_0: 0.1529, prev_frame_loss_rl_bc_0: -0.0002, loss: 1.5696, grad_norm: 37.4552, il_score_sum: 66.4611, rl_score_sum: 67.9880, score_diff: -1.5269, il_win: 76.0000, rl_win: 366.8000
2025-09-24 15:17:38,659 - mmdet - INFO - Epoch [18][3420/3517]	lr: 9.821e-06, eta: 4:43:57, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1620, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3322, debug_std_frame_4: 0.3788, debug_std_frame_5: 0.4363, loss_rl: -0.2610, loss_critic: 1.2083, loss_rl_bc: 0.0013, il_score: 0.6578, rl_score: 0.6816, prev_frame_loss_waypoint_0: 0.1652, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.3046, grad_norm: 42.1605, il_score_sum: 66.3624, rl_score_sum: 67.9250, score_diff: -1.5625, il_win: 76.0000, rl_win: 367.6500
2025-09-24 15:17:54,530 - mmdet - INFO - Epoch [18][3440/3517]	lr: 9.821e-06, eta: 4:43:41, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1679, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2754, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4371, loss_rl: -0.2694, loss_critic: 1.4863, loss_rl_bc: 0.0029, il_score: 0.6553, rl_score: 0.6673, prev_frame_loss_waypoint_0: 0.1960, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.6193, grad_norm: 42.1161, il_score_sum: 66.3624, rl_score_sum: 67.9250, score_diff: -1.5625, il_win: 76.0000, rl_win: 367.6500
2025-09-24 15:18:10,824 - mmdet - INFO - Epoch [18][3460/3517]	lr: 9.821e-06, eta: 4:43:25, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1801, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2306, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3842, debug_std_frame_5: 0.4432, loss_rl: -0.2343, loss_critic: 1.1890, loss_rl_bc: 0.0115, il_score: 0.6368, rl_score: 0.6684, prev_frame_loss_waypoint_0: 0.1854, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.3637, grad_norm: 57.8171, il_score_sum: 66.3624, rl_score_sum: 67.9250, score_diff: -1.5625, il_win: 76.0000, rl_win: 367.6500
2025-09-24 15:18:27,063 - mmdet - INFO - Epoch [18][3480/3517]	lr: 9.821e-06, eta: 4:43:09, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1690, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3815, debug_std_frame_5: 0.4371, loss_rl: -0.2913, loss_critic: 1.4140, loss_rl_bc: 0.0097, il_score: 0.6526, rl_score: 0.6624, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.5016, grad_norm: 44.3742, il_score_sum: 66.3624, rl_score_sum: 67.9250, score_diff: -1.5625, il_win: 76.0000, rl_win: 367.6500
2025-09-24 15:18:43,232 - mmdet - INFO - Epoch [18][3500/3517]	lr: 9.821e-06, eta: 4:42:53, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1725, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2325, debug_std_frame_2: 0.2854, debug_std_frame_3: 0.3352, debug_std_frame_4: 0.3857, debug_std_frame_5: 0.4437, loss_rl: -0.2414, loss_critic: 1.3816, loss_rl_bc: 0.0089, il_score: 0.6388, rl_score: 0.6626, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.5459, grad_norm: 51.3024, il_score_sum: 66.3624, rl_score_sum: 67.9250, score_diff: -1.5625, il_win: 76.0000, rl_win: 367.6500
2025-09-24 15:18:56,745 - mmdet - INFO - Saving checkpoint at 18 epochs
2025-09-24 15:21:32,164 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 15:21:32,164 - mmdet - INFO - Epoch(val) [18][753]	plan_L2_1s: 0.3117, plan_L2_2s: 0.6292, plan_L2_3s: 1.0682, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0001, plan_obj_box_col_1s: 0.0022, plan_obj_box_col_2s: 0.0029, plan_obj_box_col_3s: 0.0056, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.2989, plan_L2_2s_rl_actor: 0.6160, plan_L2_3s_rl_actor: 1.0563, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0071, plan_obj_box_col_2s_rl_actor: 0.0085, plan_obj_box_col_3s_rl_actor: 0.0118, fut_valid_flag_rl_actor: 1.0000
2025-09-24 15:21:56,224 - mmdet - INFO - Epoch [19][20/3517]	lr: 7.365e-06, eta: 4:42:21, time: 1.202, data_time: 0.351, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1847, debug_std_frame_0: 0.2147, debug_std_frame_1: 0.2415, debug_std_frame_2: 0.2948, debug_std_frame_3: 0.3475, debug_std_frame_4: 0.4009, debug_std_frame_5: 0.4596, loss_rl: -0.2679, loss_critic: 1.3659, loss_rl_bc: 0.0087, il_score: 0.6540, rl_score: 0.6693, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.5133, grad_norm: 53.1658
2025-09-24 15:22:12,851 - mmdet - INFO - Epoch [19][40/3517]	lr: 7.365e-06, eta: 4:42:05, time: 0.832, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1589, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2328, debug_std_frame_2: 0.2816, debug_std_frame_3: 0.3329, debug_std_frame_4: 0.3824, debug_std_frame_5: 0.4376, loss_rl: -0.2620, loss_critic: 1.2930, loss_rl_bc: 0.0035, il_score: 0.6528, rl_score: 0.6795, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0030, loss: 1.3957, grad_norm: 47.8998
2025-09-24 15:22:29,450 - mmdet - INFO - Epoch [19][60/3517]	lr: 7.365e-06, eta: 4:41:49, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1492, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3326, debug_std_frame_4: 0.3869, debug_std_frame_5: 0.4430, loss_rl: -0.2824, loss_critic: 1.2707, loss_rl_bc: 0.0015, il_score: 0.6947, rl_score: 0.6849, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.3482, grad_norm: 42.3114
2025-09-24 15:22:45,999 - mmdet - INFO - Epoch [19][80/3517]	lr: 7.365e-06, eta: 4:41:33, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1887, debug_std_frame_0: 0.2148, debug_std_frame_1: 0.2366, debug_std_frame_2: 0.2914, debug_std_frame_3: 0.3443, debug_std_frame_4: 0.4015, debug_std_frame_5: 0.4644, loss_rl: -0.2690, loss_critic: 1.2443, loss_rl_bc: 0.0124, il_score: 0.6808, rl_score: 0.6816, prev_frame_loss_waypoint_0: 0.1928, prev_frame_loss_rl_bc_0: 0.0139, loss: 1.4111, grad_norm: 49.7224
2025-09-24 15:23:02,906 - mmdet - INFO - Epoch [19][100/3517]	lr: 7.365e-06, eta: 4:41:17, time: 0.845, data_time: 0.014, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1576, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4319, loss_rl: -0.2755, loss_critic: 1.3273, loss_rl_bc: 0.0080, il_score: 0.7004, rl_score: 0.6854, prev_frame_loss_waypoint_0: 0.1772, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.4311, grad_norm: 50.1485, il_score_sum: 67.3286, rl_score_sum: 67.7691, score_diff: -0.4404, il_win: 76.0000, rl_win: 377.0000
2025-09-24 15:23:19,328 - mmdet - INFO - Epoch [19][120/3517]	lr: 7.365e-06, eta: 4:41:01, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0289, loss_waypoint: 0.1587, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2329, debug_std_frame_2: 0.2873, debug_std_frame_3: 0.3401, debug_std_frame_4: 0.3950, debug_std_frame_5: 0.4501, loss_rl: -0.2526, loss_critic: 1.3102, loss_rl_bc: 0.0048, il_score: 0.6949, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.1738, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.4287, grad_norm: 42.5194, il_score_sum: 67.3286, rl_score_sum: 67.7691, score_diff: -0.4404, il_win: 76.0000, rl_win: 377.0000
2025-09-24 15:23:36,075 - mmdet - INFO - Epoch [19][140/3517]	lr: 7.365e-06, eta: 4:40:46, time: 0.837, data_time: 0.014, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1659, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2330, debug_std_frame_2: 0.2851, debug_std_frame_3: 0.3400, debug_std_frame_4: 0.3947, debug_std_frame_5: 0.4562, loss_rl: -0.2682, loss_critic: 1.6486, loss_rl_bc: 0.0064, il_score: 0.6646, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.7663, grad_norm: 37.3308, il_score_sum: 67.3286, rl_score_sum: 67.7691, score_diff: -0.4404, il_win: 76.0000, rl_win: 377.0000
2025-09-24 15:23:52,443 - mmdet - INFO - Epoch [19][160/3517]	lr: 7.365e-06, eta: 4:40:30, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1621, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2296, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3361, debug_std_frame_4: 0.3881, debug_std_frame_5: 0.4420, loss_rl: -0.2638, loss_critic: 1.5098, loss_rl_bc: 0.0057, il_score: 0.6335, rl_score: 0.6531, prev_frame_loss_waypoint_0: 0.1778, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.6226, grad_norm: 41.0301, il_score_sum: 67.3286, rl_score_sum: 67.7691, score_diff: -0.4404, il_win: 76.0000, rl_win: 377.0000
2025-09-24 15:24:08,810 - mmdet - INFO - Epoch [19][180/3517]	lr: 7.365e-06, eta: 4:40:14, time: 0.818, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1518, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2304, debug_std_frame_2: 0.2764, debug_std_frame_3: 0.3240, debug_std_frame_4: 0.3730, debug_std_frame_5: 0.4267, loss_rl: -0.3079, loss_critic: 1.1043, loss_rl_bc: 0.0015, il_score: 0.6789, rl_score: 0.7265, prev_frame_loss_waypoint_0: 0.1638, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.1456, grad_norm: 39.2972, il_score_sum: 67.3286, rl_score_sum: 67.7691, score_diff: -0.4404, il_win: 76.0000, rl_win: 377.0000
2025-09-24 15:24:25,228 - mmdet - INFO - Epoch [19][200/3517]	lr: 7.365e-06, eta: 4:39:58, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1964, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2301, debug_std_frame_2: 0.2838, debug_std_frame_3: 0.3411, debug_std_frame_4: 0.3958, debug_std_frame_5: 0.4559, loss_rl: -0.2313, loss_critic: 1.2491, loss_rl_bc: 0.0121, il_score: 0.6426, rl_score: 0.6697, prev_frame_loss_waypoint_0: 0.1886, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.4505, grad_norm: 43.3094, il_score_sum: 66.9348, rl_score_sum: 67.8212, score_diff: -0.8865, il_win: 76.0000, rl_win: 377.5000
2025-09-24 15:24:41,719 - mmdet - INFO - Epoch [19][220/3517]	lr: 7.365e-06, eta: 4:39:42, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1577, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2293, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3308, debug_std_frame_4: 0.3824, debug_std_frame_5: 0.4397, loss_rl: -0.2480, loss_critic: 1.3632, loss_rl_bc: 0.0025, il_score: 0.6345, rl_score: 0.6644, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.4789, grad_norm: 49.5656, il_score_sum: 66.9348, rl_score_sum: 67.8212, score_diff: -0.8865, il_win: 76.0000, rl_win: 377.5000
2025-09-24 15:24:58,223 - mmdet - INFO - Epoch [19][240/3517]	lr: 7.365e-06, eta: 4:39:26, time: 0.825, data_time: 0.014, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1892, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2273, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3694, debug_std_frame_5: 0.4220, loss_rl: -0.2531, loss_critic: 1.9011, loss_rl_bc: 0.0131, il_score: 0.6304, rl_score: 0.6526, prev_frame_loss_waypoint_0: 0.1780, prev_frame_loss_rl_bc_0: 0.0050, loss: 2.0596, grad_norm: 57.8321, il_score_sum: 66.9348, rl_score_sum: 67.8212, score_diff: -0.8865, il_win: 76.0000, rl_win: 377.5000
2025-09-24 15:25:14,472 - mmdet - INFO - Epoch [19][260/3517]	lr: 7.365e-06, eta: 4:39:10, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1602, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2296, debug_std_frame_2: 0.2782, debug_std_frame_3: 0.3299, debug_std_frame_4: 0.3813, debug_std_frame_5: 0.4380, loss_rl: -0.2742, loss_critic: 1.3492, loss_rl_bc: 0.0050, il_score: 0.6478, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.1724, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4442, grad_norm: 39.8484, il_score_sum: 66.9348, rl_score_sum: 67.8212, score_diff: -0.8865, il_win: 76.0000, rl_win: 377.5000
2025-09-24 15:25:30,740 - mmdet - INFO - Epoch [19][280/3517]	lr: 7.365e-06, eta: 4:38:54, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1645, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3299, debug_std_frame_4: 0.3827, debug_std_frame_5: 0.4424, loss_rl: -0.2974, loss_critic: 1.2829, loss_rl_bc: 0.0058, il_score: 0.6766, rl_score: 0.7033, prev_frame_loss_waypoint_0: 0.1586, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.3417, grad_norm: 34.4141, il_score_sum: 66.9348, rl_score_sum: 67.8212, score_diff: -0.8865, il_win: 76.0000, rl_win: 377.5000
2025-09-24 15:25:47,302 - mmdet - INFO - Epoch [19][300/3517]	lr: 7.365e-06, eta: 4:38:38, time: 0.828, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1654, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3214, debug_std_frame_4: 0.3728, debug_std_frame_5: 0.4311, loss_rl: -0.2730, loss_critic: 1.1276, loss_rl_bc: 0.0064, il_score: 0.6974, rl_score: 0.7043, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.2477, grad_norm: 36.7620, il_score_sum: 66.5265, rl_score_sum: 67.8039, score_diff: -1.2774, il_win: 76.0000, rl_win: 378.0000
2025-09-24 15:26:03,362 - mmdet - INFO - Epoch [19][320/3517]	lr: 7.365e-06, eta: 4:38:22, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1538, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2336, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3399, debug_std_frame_4: 0.3959, debug_std_frame_5: 0.4608, loss_rl: -0.2419, loss_critic: 1.6204, loss_rl_bc: 0.0054, il_score: 0.6529, rl_score: 0.6422, prev_frame_loss_waypoint_0: 0.1912, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.7689, grad_norm: 63.8719, il_score_sum: 66.5265, rl_score_sum: 67.8039, score_diff: -1.2774, il_win: 76.0000, rl_win: 378.0000
2025-09-24 15:26:19,473 - mmdet - INFO - Epoch [19][340/3517]	lr: 7.365e-06, eta: 4:38:06, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1670, debug_std_frame_0: 0.2132, debug_std_frame_1: 0.2337, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3380, debug_std_frame_4: 0.3923, debug_std_frame_5: 0.4565, loss_rl: -0.2776, loss_critic: 1.1238, loss_rl_bc: 0.0060, il_score: 0.6899, rl_score: 0.6895, prev_frame_loss_waypoint_0: 0.1770, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.2292, grad_norm: 39.6035, il_score_sum: 66.5265, rl_score_sum: 67.8039, score_diff: -1.2774, il_win: 76.0000, rl_win: 378.0000
2025-09-24 15:26:35,700 - mmdet - INFO - Epoch [19][360/3517]	lr: 7.365e-06, eta: 4:37:50, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1784, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3658, debug_std_frame_5: 0.4203, loss_rl: -0.2332, loss_critic: 1.1208, loss_rl_bc: 0.0055, il_score: 0.6710, rl_score: 0.7025, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.2993, grad_norm: 43.8620, il_score_sum: 66.5265, rl_score_sum: 67.8039, score_diff: -1.2774, il_win: 76.0000, rl_win: 378.0000
2025-09-24 15:26:51,846 - mmdet - INFO - Epoch [19][380/3517]	lr: 7.365e-06, eta: 4:37:34, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1551, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2283, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3776, debug_std_frame_5: 0.4344, loss_rl: -0.2354, loss_critic: 1.6129, loss_rl_bc: 0.0062, il_score: 0.6403, rl_score: 0.6495, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.7567, grad_norm: 44.6458, il_score_sum: 66.5265, rl_score_sum: 67.8039, score_diff: -1.2774, il_win: 76.0000, rl_win: 378.0000
2025-09-24 15:27:08,257 - mmdet - INFO - Epoch [19][400/3517]	lr: 7.365e-06, eta: 4:37:18, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1714, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2319, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3313, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4380, loss_rl: -0.2752, loss_critic: 1.2457, loss_rl_bc: 0.0078, il_score: 0.6729, rl_score: 0.6846, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.3778, grad_norm: 44.3750, il_score_sum: 66.5079, rl_score_sum: 67.7054, score_diff: -1.1975, il_win: 76.0000, rl_win: 378.2500
2025-09-24 15:27:24,287 - mmdet - INFO - Epoch [19][420/3517]	lr: 7.365e-06, eta: 4:37:02, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1517, debug_std_frame_0: 0.2145, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3180, debug_std_frame_4: 0.3646, debug_std_frame_5: 0.4156, loss_rl: -0.2962, loss_critic: 1.1810, loss_rl_bc: 0.0021, il_score: 0.6960, rl_score: 0.7198, prev_frame_loss_waypoint_0: 0.1633, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.2292, grad_norm: 44.4190, il_score_sum: 66.5079, rl_score_sum: 67.7054, score_diff: -1.1975, il_win: 76.0000, rl_win: 378.2500
2025-09-24 15:27:40,453 - mmdet - INFO - Epoch [19][440/3517]	lr: 7.365e-06, eta: 4:36:46, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1553, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2313, debug_std_frame_2: 0.2774, debug_std_frame_3: 0.3288, debug_std_frame_4: 0.3803, debug_std_frame_5: 0.4345, loss_rl: -0.2636, loss_critic: 1.3712, loss_rl_bc: 0.0047, il_score: 0.6479, rl_score: 0.6768, prev_frame_loss_waypoint_0: 0.1820, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.4846, grad_norm: 38.3712, il_score_sum: 66.5079, rl_score_sum: 67.7054, score_diff: -1.1975, il_win: 76.0000, rl_win: 378.2500
2025-09-24 15:27:56,955 - mmdet - INFO - Epoch [19][460/3517]	lr: 7.365e-06, eta: 4:36:30, time: 0.825, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1697, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2811, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3786, debug_std_frame_5: 0.4349, loss_rl: -0.2675, loss_critic: 1.1031, loss_rl_bc: 0.0054, il_score: 0.6906, rl_score: 0.7109, prev_frame_loss_waypoint_0: 0.1852, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.2306, grad_norm: 42.4306, il_score_sum: 66.5079, rl_score_sum: 67.7054, score_diff: -1.1975, il_win: 76.0000, rl_win: 378.2500
2025-09-24 15:28:13,191 - mmdet - INFO - Epoch [19][480/3517]	lr: 7.365e-06, eta: 4:36:14, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1704, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2299, debug_std_frame_2: 0.2806, debug_std_frame_3: 0.3346, debug_std_frame_4: 0.3866, debug_std_frame_5: 0.4426, loss_rl: -0.2794, loss_critic: 1.1855, loss_rl_bc: 0.0054, il_score: 0.6738, rl_score: 0.6965, prev_frame_loss_waypoint_0: 0.1708, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.2854, grad_norm: 44.6710, il_score_sum: 66.5079, rl_score_sum: 67.7054, score_diff: -1.1975, il_win: 76.0000, rl_win: 378.2500
2025-09-24 15:28:29,556 - mmdet - INFO - Epoch [19][500/3517]	lr: 7.365e-06, eta: 4:35:58, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1642, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2789, debug_std_frame_3: 0.3318, debug_std_frame_4: 0.3811, debug_std_frame_5: 0.4361, loss_rl: -0.2744, loss_critic: 1.0526, loss_rl_bc: 0.0031, il_score: 0.6853, rl_score: 0.7076, prev_frame_loss_waypoint_0: 0.1635, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.1387, grad_norm: 43.2834, il_score_sum: 66.7509, rl_score_sum: 68.1690, score_diff: -1.4181, il_win: 76.0000, rl_win: 378.6000
2025-09-24 15:28:45,566 - mmdet - INFO - Epoch [19][520/3517]	lr: 7.365e-06, eta: 4:35:42, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1753, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2293, debug_std_frame_2: 0.2755, debug_std_frame_3: 0.3278, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4369, loss_rl: -0.2414, loss_critic: 1.5126, loss_rl_bc: 0.0086, il_score: 0.6156, rl_score: 0.6250, prev_frame_loss_waypoint_0: 0.2066, prev_frame_loss_rl_bc_0: 0.0137, loss: 1.7024, grad_norm: 58.6221, il_score_sum: 66.7509, rl_score_sum: 68.1690, score_diff: -1.4181, il_win: 76.0000, rl_win: 378.6000
2025-09-24 15:29:01,846 - mmdet - INFO - Epoch [19][540/3517]	lr: 7.365e-06, eta: 4:35:26, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1887, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3381, debug_std_frame_4: 0.3892, debug_std_frame_5: 0.4469, loss_rl: -0.2025, loss_critic: 1.4024, loss_rl_bc: 0.0143, il_score: 0.6239, rl_score: 0.6369, prev_frame_loss_waypoint_0: 0.1982, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.6395, grad_norm: 55.2944, il_score_sum: 66.7509, rl_score_sum: 68.1690, score_diff: -1.4181, il_win: 76.0000, rl_win: 378.6000
2025-09-24 15:29:17,942 - mmdet - INFO - Epoch [19][560/3517]	lr: 7.365e-06, eta: 4:35:09, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1775, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2843, debug_std_frame_3: 0.3357, debug_std_frame_4: 0.3887, debug_std_frame_5: 0.4444, loss_rl: -0.2293, loss_critic: 1.3332, loss_rl_bc: 0.0099, il_score: 0.6550, rl_score: 0.6780, prev_frame_loss_waypoint_0: 0.1952, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.5267, grad_norm: 49.2808, il_score_sum: 66.7509, rl_score_sum: 68.1690, score_diff: -1.4181, il_win: 76.0000, rl_win: 378.6000
2025-09-24 15:29:34,060 - mmdet - INFO - Epoch [19][580/3517]	lr: 7.365e-06, eta: 4:34:53, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1636, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2322, debug_std_frame_2: 0.2822, debug_std_frame_3: 0.3345, debug_std_frame_4: 0.3888, debug_std_frame_5: 0.4442, loss_rl: -0.2766, loss_critic: 1.5865, loss_rl_bc: 0.0033, il_score: 0.6649, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1730, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.6821, grad_norm: 51.4145, il_score_sum: 66.7509, rl_score_sum: 68.1690, score_diff: -1.4181, il_win: 76.0000, rl_win: 378.6000
2025-09-24 15:29:50,366 - mmdet - INFO - Epoch [19][600/3517]	lr: 7.365e-06, eta: 4:34:37, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1611, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2330, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3347, debug_std_frame_4: 0.3888, debug_std_frame_5: 0.4489, loss_rl: -0.2706, loss_critic: 1.4330, loss_rl_bc: 0.0061, il_score: 0.6618, rl_score: 0.6677, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.5353, grad_norm: 46.2172, il_score_sum: 66.4476, rl_score_sum: 67.9079, score_diff: -1.4604, il_win: 76.0000, rl_win: 379.0000
2025-09-24 15:30:06,647 - mmdet - INFO - Epoch [19][620/3517]	lr: 7.365e-06, eta: 4:34:21, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1553, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2281, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3297, debug_std_frame_4: 0.3811, debug_std_frame_5: 0.4370, loss_rl: -0.2856, loss_critic: 1.2532, loss_rl_bc: 0.0034, il_score: 0.6837, rl_score: 0.7075, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.3304, grad_norm: 37.0179, il_score_sum: 66.4476, rl_score_sum: 67.9079, score_diff: -1.4604, il_win: 76.0000, rl_win: 379.0000
2025-09-24 15:30:22,617 - mmdet - INFO - Epoch [19][640/3517]	lr: 7.365e-06, eta: 4:34:05, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1498, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3708, debug_std_frame_5: 0.4244, loss_rl: -0.2514, loss_critic: 1.4022, loss_rl_bc: 0.0039, il_score: 0.6166, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.1567, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.4884, grad_norm: 41.7862, il_score_sum: 66.4476, rl_score_sum: 67.9079, score_diff: -1.4604, il_win: 76.0000, rl_win: 379.0000
2025-09-24 15:30:38,741 - mmdet - INFO - Epoch [19][660/3517]	lr: 7.365e-06, eta: 4:33:49, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1499, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2645, debug_std_frame_3: 0.3090, debug_std_frame_4: 0.3591, debug_std_frame_5: 0.4147, loss_rl: -0.2619, loss_critic: 1.4288, loss_rl_bc: 0.0018, il_score: 0.6609, rl_score: 0.6808, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.5342, grad_norm: 41.7817, il_score_sum: 66.4476, rl_score_sum: 67.9079, score_diff: -1.4604, il_win: 76.0000, rl_win: 379.0000
2025-09-24 15:30:54,720 - mmdet - INFO - Epoch [19][680/3517]	lr: 7.365e-06, eta: 4:33:33, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1890, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3210, debug_std_frame_4: 0.3708, debug_std_frame_5: 0.4235, loss_rl: -0.2330, loss_critic: 1.3985, loss_rl_bc: 0.0129, il_score: 0.6301, rl_score: 0.6576, prev_frame_loss_waypoint_0: 0.1934, prev_frame_loss_rl_bc_0: 0.0130, loss: 1.6013, grad_norm: 45.6738, il_score_sum: 66.4476, rl_score_sum: 67.9079, score_diff: -1.4604, il_win: 76.0000, rl_win: 379.0000
2025-09-24 15:31:11,125 - mmdet - INFO - Epoch [19][700/3517]	lr: 7.365e-06, eta: 4:33:17, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1621, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2283, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3747, debug_std_frame_5: 0.4276, loss_rl: -0.2525, loss_critic: 1.5566, loss_rl_bc: 0.0068, il_score: 0.6283, rl_score: 0.6677, prev_frame_loss_waypoint_0: 0.1775, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.6831, grad_norm: 48.6899, il_score_sum: 66.0729, rl_score_sum: 67.7990, score_diff: -1.7261, il_win: 76.0000, rl_win: 379.4286
2025-09-24 15:31:27,376 - mmdet - INFO - Epoch [19][720/3517]	lr: 7.365e-06, eta: 4:33:01, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1618, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3768, debug_std_frame_5: 0.4322, loss_rl: -0.2917, loss_critic: 1.5941, loss_rl_bc: 0.0037, il_score: 0.6828, rl_score: 0.7086, prev_frame_loss_waypoint_0: 0.1691, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.6715, grad_norm: 40.2273, il_score_sum: 66.0729, rl_score_sum: 67.7990, score_diff: -1.7261, il_win: 76.0000, rl_win: 379.4286
2025-09-24 15:31:43,547 - mmdet - INFO - Epoch [19][740/3517]	lr: 7.365e-06, eta: 4:32:45, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1598, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2780, debug_std_frame_3: 0.3267, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4344, loss_rl: -0.2418, loss_critic: 1.2689, loss_rl_bc: 0.0045, il_score: 0.6908, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.4129, grad_norm: 42.9390, il_score_sum: 66.0729, rl_score_sum: 67.7990, score_diff: -1.7261, il_win: 76.0000, rl_win: 379.4286
2025-09-24 15:31:59,600 - mmdet - INFO - Epoch [19][760/3517]	lr: 7.365e-06, eta: 4:32:29, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1573, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2790, debug_std_frame_3: 0.3291, debug_std_frame_4: 0.3808, debug_std_frame_5: 0.4356, loss_rl: -0.2487, loss_critic: 1.2632, loss_rl_bc: 0.0052, il_score: 0.6668, rl_score: 0.6815, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3818, grad_norm: 50.7080, il_score_sum: 66.0729, rl_score_sum: 67.7990, score_diff: -1.7261, il_win: 76.0000, rl_win: 379.4286
2025-09-24 15:32:15,866 - mmdet - INFO - Epoch [19][780/3517]	lr: 7.365e-06, eta: 4:32:13, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1485, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2762, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3765, debug_std_frame_5: 0.4319, loss_rl: -0.2625, loss_critic: 1.3109, loss_rl_bc: 0.0028, il_score: 0.6565, rl_score: 0.6976, prev_frame_loss_waypoint_0: 0.1667, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.3974, grad_norm: 38.3924, il_score_sum: 66.0729, rl_score_sum: 67.7990, score_diff: -1.7261, il_win: 76.0000, rl_win: 379.4286
2025-09-24 15:32:32,245 - mmdet - INFO - Epoch [19][800/3517]	lr: 7.365e-06, eta: 4:31:57, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1733, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3843, debug_std_frame_5: 0.4385, loss_rl: -0.3038, loss_critic: 1.0951, loss_rl_bc: 0.0082, il_score: 0.6738, rl_score: 0.7110, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.1930, grad_norm: 39.4398, il_score_sum: 66.2477, rl_score_sum: 68.0000, score_diff: -1.7522, il_win: 76.0000, rl_win: 379.8750
2025-09-24 15:32:48,337 - mmdet - INFO - Epoch [19][820/3517]	lr: 7.365e-06, eta: 4:31:41, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1528, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2764, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4262, loss_rl: -0.3161, loss_critic: 1.3121, loss_rl_bc: 0.0010, il_score: 0.6596, rl_score: 0.7152, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3637, grad_norm: 36.4790, il_score_sum: 66.2477, rl_score_sum: 68.0000, score_diff: -1.7522, il_win: 76.0000, rl_win: 379.8750
2025-09-24 15:33:04,594 - mmdet - INFO - Epoch [19][840/3517]	lr: 7.365e-06, eta: 4:31:25, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1815, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3329, debug_std_frame_4: 0.3902, debug_std_frame_5: 0.4471, loss_rl: -0.2335, loss_critic: 1.2602, loss_rl_bc: 0.0085, il_score: 0.6614, rl_score: 0.6683, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.4344, grad_norm: 42.4191, il_score_sum: 66.2477, rl_score_sum: 68.0000, score_diff: -1.7522, il_win: 76.0000, rl_win: 379.8750
2025-09-24 15:33:20,925 - mmdet - INFO - Epoch [19][860/3517]	lr: 7.365e-06, eta: 4:31:09, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1687, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3270, debug_std_frame_4: 0.3779, debug_std_frame_5: 0.4329, loss_rl: -0.2709, loss_critic: 1.4929, loss_rl_bc: 0.0059, il_score: 0.6726, rl_score: 0.6618, prev_frame_loss_waypoint_0: 0.1712, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5989, grad_norm: 34.9821, il_score_sum: 66.2477, rl_score_sum: 68.0000, score_diff: -1.7522, il_win: 76.0000, rl_win: 379.8750
2025-09-24 15:33:37,028 - mmdet - INFO - Epoch [19][880/3517]	lr: 7.365e-06, eta: 4:30:53, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1696, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3241, debug_std_frame_4: 0.3795, debug_std_frame_5: 0.4376, loss_rl: -0.2463, loss_critic: 1.3808, loss_rl_bc: 0.0084, il_score: 0.6632, rl_score: 0.6770, prev_frame_loss_waypoint_0: 0.1741, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.5181, grad_norm: 45.9779, il_score_sum: 66.2477, rl_score_sum: 68.0000, score_diff: -1.7522, il_win: 76.0000, rl_win: 379.8750
2025-09-24 15:33:53,379 - mmdet - INFO - Epoch [19][900/3517]	lr: 7.365e-06, eta: 4:30:37, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1769, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2304, debug_std_frame_2: 0.2754, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3751, debug_std_frame_5: 0.4297, loss_rl: -0.2730, loss_critic: 1.7993, loss_rl_bc: 0.0128, il_score: 0.6296, rl_score: 0.6634, prev_frame_loss_waypoint_0: 0.1917, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.9414, grad_norm: 41.3182, il_score_sum: 66.2678, rl_score_sum: 68.0411, score_diff: -1.7733, il_win: 76.0000, rl_win: 380.3333
2025-09-24 15:34:09,349 - mmdet - INFO - Epoch [19][920/3517]	lr: 7.365e-06, eta: 4:30:21, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1827, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2330, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4469, loss_rl: -0.2360, loss_critic: 1.0011, loss_rl_bc: 0.0082, il_score: 0.6980, rl_score: 0.7068, prev_frame_loss_waypoint_0: 0.1917, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.1821, grad_norm: 37.6072, il_score_sum: 66.2678, rl_score_sum: 68.0411, score_diff: -1.7733, il_win: 76.0000, rl_win: 380.3333
2025-09-24 15:34:25,476 - mmdet - INFO - Epoch [19][940/3517]	lr: 7.365e-06, eta: 4:30:05, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1637, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2806, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3837, debug_std_frame_5: 0.4418, loss_rl: -0.2632, loss_critic: 0.9693, loss_rl_bc: 0.0055, il_score: 0.7009, rl_score: 0.6903, prev_frame_loss_waypoint_0: 0.1742, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.0837, grad_norm: 39.3522, il_score_sum: 66.2678, rl_score_sum: 68.0411, score_diff: -1.7733, il_win: 76.0000, rl_win: 380.3333
2025-09-24 15:34:41,617 - mmdet - INFO - Epoch [19][960/3517]	lr: 7.365e-06, eta: 4:29:49, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1635, debug_std_frame_0: 0.2123, debug_std_frame_1: 0.2318, debug_std_frame_2: 0.2762, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3755, debug_std_frame_5: 0.4292, loss_rl: -0.2641, loss_critic: 1.6501, loss_rl_bc: 0.0067, il_score: 0.6526, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.1695, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.7573, grad_norm: 41.8238, il_score_sum: 66.2678, rl_score_sum: 68.0411, score_diff: -1.7733, il_win: 76.0000, rl_win: 380.3333
2025-09-24 15:34:57,592 - mmdet - INFO - Epoch [19][980/3517]	lr: 7.365e-06, eta: 4:29:33, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1638, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2335, debug_std_frame_2: 0.2840, debug_std_frame_3: 0.3389, debug_std_frame_4: 0.3949, debug_std_frame_5: 0.4523, loss_rl: -0.2331, loss_critic: 1.3798, loss_rl_bc: 0.0073, il_score: 0.6191, rl_score: 0.6624, prev_frame_loss_waypoint_0: 0.1716, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.5199, grad_norm: 39.0706, il_score_sum: 66.2678, rl_score_sum: 68.0411, score_diff: -1.7733, il_win: 76.0000, rl_win: 380.3333
2025-09-24 15:35:13,823 - mmdet - INFO - Epoch [19][1000/3517]	lr: 7.365e-06, eta: 4:29:17, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1738, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3404, debug_std_frame_4: 0.3947, debug_std_frame_5: 0.4507, loss_rl: -0.2449, loss_critic: 1.4873, loss_rl_bc: 0.0096, il_score: 0.6485, rl_score: 0.6690, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.6462, grad_norm: 44.7710, il_score_sum: 66.2406, rl_score_sum: 68.0126, score_diff: -1.7720, il_win: 76.0000, rl_win: 380.8000
2025-09-24 15:35:29,934 - mmdet - INFO - Epoch [19][1020/3517]	lr: 7.365e-06, eta: 4:29:00, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1566, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2832, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3905, debug_std_frame_5: 0.4477, loss_rl: -0.2657, loss_critic: 1.0855, loss_rl_bc: 0.0045, il_score: 0.6958, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.1994, grad_norm: 42.4720, il_score_sum: 66.2406, rl_score_sum: 68.0126, score_diff: -1.7720, il_win: 76.0000, rl_win: 380.8000
2025-09-24 15:35:45,981 - mmdet - INFO - Epoch [19][1040/3517]	lr: 7.365e-06, eta: 4:28:44, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1732, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2856, debug_std_frame_3: 0.3362, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4480, loss_rl: -0.2385, loss_critic: 1.0880, loss_rl_bc: 0.0068, il_score: 0.6719, rl_score: 0.6768, prev_frame_loss_waypoint_0: 0.1690, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.2299, grad_norm: 37.9662, il_score_sum: 66.2406, rl_score_sum: 68.0126, score_diff: -1.7720, il_win: 76.0000, rl_win: 380.8000
2025-09-24 15:36:02,029 - mmdet - INFO - Epoch [19][1060/3517]	lr: 7.365e-06, eta: 4:28:28, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1541, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2746, debug_std_frame_3: 0.3274, debug_std_frame_4: 0.3791, debug_std_frame_5: 0.4339, loss_rl: -0.2826, loss_critic: 1.4495, loss_rl_bc: 0.0040, il_score: 0.6644, rl_score: 0.6806, prev_frame_loss_waypoint_0: 0.1795, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.5368, grad_norm: 45.5099, il_score_sum: 66.2406, rl_score_sum: 68.0126, score_diff: -1.7720, il_win: 76.0000, rl_win: 380.8000
2025-09-24 15:36:18,052 - mmdet - INFO - Epoch [19][1080/3517]	lr: 7.365e-06, eta: 4:28:12, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1851, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3406, debug_std_frame_4: 0.3972, debug_std_frame_5: 0.4595, loss_rl: -0.2147, loss_critic: 1.2207, loss_rl_bc: 0.0098, il_score: 0.6488, rl_score: 0.6499, prev_frame_loss_waypoint_0: 0.2082, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.4478, grad_norm: 51.3528, il_score_sum: 66.2406, rl_score_sum: 68.0126, score_diff: -1.7720, il_win: 76.0000, rl_win: 380.8000
2025-09-24 15:36:34,324 - mmdet - INFO - Epoch [19][1100/3517]	lr: 7.365e-06, eta: 4:27:56, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1510, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2350, debug_std_frame_2: 0.2876, debug_std_frame_3: 0.3399, debug_std_frame_4: 0.3948, debug_std_frame_5: 0.4532, loss_rl: -0.2447, loss_critic: 1.3984, loss_rl_bc: 0.0029, il_score: 0.6621, rl_score: 0.6860, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.5352, grad_norm: 35.1769, il_score_sum: 66.2845, rl_score_sum: 67.9837, score_diff: -1.6992, il_win: 76.0000, rl_win: 381.1818
2025-09-24 15:36:50,382 - mmdet - INFO - Epoch [19][1120/3517]	lr: 7.365e-06, eta: 4:27:40, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1498, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2794, debug_std_frame_3: 0.3321, debug_std_frame_4: 0.3858, debug_std_frame_5: 0.4382, loss_rl: -0.2969, loss_critic: 1.2364, loss_rl_bc: 0.0009, il_score: 0.6903, rl_score: 0.6996, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.3130, grad_norm: 41.7629, il_score_sum: 66.2845, rl_score_sum: 67.9837, score_diff: -1.6992, il_win: 76.0000, rl_win: 381.1818
2025-09-24 15:37:06,399 - mmdet - INFO - Epoch [19][1140/3517]	lr: 7.365e-06, eta: 4:27:24, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1666, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2794, debug_std_frame_3: 0.3332, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4425, loss_rl: -0.2888, loss_critic: 1.4077, loss_rl_bc: 0.0039, il_score: 0.6949, rl_score: 0.6967, prev_frame_loss_waypoint_0: 0.1952, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.5229, grad_norm: 44.2369, il_score_sum: 66.2845, rl_score_sum: 67.9837, score_diff: -1.6992, il_win: 76.0000, rl_win: 381.1818
2025-09-24 15:37:22,570 - mmdet - INFO - Epoch [19][1160/3517]	lr: 7.365e-06, eta: 4:27:08, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1737, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2330, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3876, debug_std_frame_5: 0.4472, loss_rl: -0.2501, loss_critic: 1.3220, loss_rl_bc: 0.0107, il_score: 0.6473, rl_score: 0.6617, prev_frame_loss_waypoint_0: 0.1868, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.4773, grad_norm: 50.2042, il_score_sum: 66.2845, rl_score_sum: 67.9837, score_diff: -1.6992, il_win: 76.0000, rl_win: 381.1818
2025-09-24 15:37:38,855 - mmdet - INFO - Epoch [19][1180/3517]	lr: 7.365e-06, eta: 4:26:52, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1721, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2836, debug_std_frame_3: 0.3399, debug_std_frame_4: 0.3961, debug_std_frame_5: 0.4561, loss_rl: -0.2385, loss_critic: 1.2185, loss_rl_bc: 0.0069, il_score: 0.6485, rl_score: 0.6788, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.3775, grad_norm: 41.0522, il_score_sum: 66.2845, rl_score_sum: 67.9837, score_diff: -1.6992, il_win: 76.0000, rl_win: 381.1818
2025-09-24 15:37:55,136 - mmdet - INFO - Epoch [19][1200/3517]	lr: 7.365e-06, eta: 4:26:36, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1896, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2892, debug_std_frame_3: 0.3413, debug_std_frame_4: 0.3970, debug_std_frame_5: 0.4559, loss_rl: -0.2419, loss_critic: 1.3425, loss_rl_bc: 0.0150, il_score: 0.6497, rl_score: 0.6533, prev_frame_loss_waypoint_0: 0.1933, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.5360, grad_norm: 64.3017, il_score_sum: 66.3115, rl_score_sum: 67.9763, score_diff: -1.6648, il_win: 76.0000, rl_win: 381.5833
2025-09-24 15:38:11,113 - mmdet - INFO - Epoch [19][1220/3517]	lr: 7.365e-06, eta: 4:26:20, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1822, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2388, debug_std_frame_2: 0.2925, debug_std_frame_3: 0.3502, debug_std_frame_4: 0.4072, debug_std_frame_5: 0.4652, loss_rl: -0.2566, loss_critic: 1.1506, loss_rl_bc: 0.0073, il_score: 0.6778, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1983, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.3203, grad_norm: 46.5035, il_score_sum: 66.3115, rl_score_sum: 67.9763, score_diff: -1.6648, il_win: 76.0000, rl_win: 381.5833
2025-09-24 15:38:27,338 - mmdet - INFO - Epoch [19][1240/3517]	lr: 7.365e-06, eta: 4:26:04, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0298, loss_waypoint: 0.1697, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2292, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3286, debug_std_frame_4: 0.3818, debug_std_frame_5: 0.4351, loss_rl: -0.2679, loss_critic: 1.2199, loss_rl_bc: 0.0066, il_score: 0.6523, rl_score: 0.6896, prev_frame_loss_waypoint_0: 0.1764, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.3407, grad_norm: 39.2457, il_score_sum: 66.3115, rl_score_sum: 67.9763, score_diff: -1.6648, il_win: 76.0000, rl_win: 381.5833
2025-09-24 15:38:43,586 - mmdet - INFO - Epoch [19][1260/3517]	lr: 7.365e-06, eta: 4:25:48, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0286, loss_waypoint: 0.1757, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2342, debug_std_frame_2: 0.2873, debug_std_frame_3: 0.3442, debug_std_frame_4: 0.3997, debug_std_frame_5: 0.4603, loss_rl: -0.2471, loss_critic: 1.3528, loss_rl_bc: 0.0063, il_score: 0.6408, rl_score: 0.6756, prev_frame_loss_waypoint_0: 0.1848, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.5051, grad_norm: 48.9200, il_score_sum: 66.3115, rl_score_sum: 67.9763, score_diff: -1.6648, il_win: 76.0000, rl_win: 381.5833
2025-09-24 15:38:59,558 - mmdet - INFO - Epoch [19][1280/3517]	lr: 7.365e-06, eta: 4:25:32, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1529, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2283, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3267, debug_std_frame_4: 0.3800, debug_std_frame_5: 0.4326, loss_rl: -0.2683, loss_critic: 1.5218, loss_rl_bc: 0.0022, il_score: 0.6347, rl_score: 0.6450, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.6092, grad_norm: 48.1699, il_score_sum: 66.3115, rl_score_sum: 67.9763, score_diff: -1.6648, il_win: 76.0000, rl_win: 381.5833
2025-09-24 15:39:15,947 - mmdet - INFO - Epoch [19][1300/3517]	lr: 7.365e-06, eta: 4:25:16, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1907, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2309, debug_std_frame_2: 0.2829, debug_std_frame_3: 0.3401, debug_std_frame_4: 0.3962, debug_std_frame_5: 0.4508, loss_rl: -0.2511, loss_critic: 1.3036, loss_rl_bc: 0.0102, il_score: 0.6472, rl_score: 0.6865, prev_frame_loss_waypoint_0: 0.1829, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4701, grad_norm: 45.1194, il_score_sum: 66.2308, rl_score_sum: 67.9191, score_diff: -1.6883, il_win: 76.0000, rl_win: 382.0000
2025-09-24 15:39:31,890 - mmdet - INFO - Epoch [19][1320/3517]	lr: 7.365e-06, eta: 4:25:00, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1716, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2823, debug_std_frame_3: 0.3372, debug_std_frame_4: 0.3937, debug_std_frame_5: 0.4479, loss_rl: -0.2588, loss_critic: 1.3234, loss_rl_bc: 0.0103, il_score: 0.6675, rl_score: 0.6821, prev_frame_loss_waypoint_0: 0.1887, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.4704, grad_norm: 38.8395, il_score_sum: 66.2308, rl_score_sum: 67.9191, score_diff: -1.6883, il_win: 76.0000, rl_win: 382.0000
2025-09-24 15:39:47,987 - mmdet - INFO - Epoch [19][1340/3517]	lr: 7.365e-06, eta: 4:24:44, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1626, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2333, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3343, debug_std_frame_4: 0.3854, debug_std_frame_5: 0.4422, loss_rl: -0.2919, loss_critic: 1.3586, loss_rl_bc: 0.0044, il_score: 0.6822, rl_score: 0.6720, prev_frame_loss_waypoint_0: 0.1920, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.4653, grad_norm: 51.1287, il_score_sum: 66.2308, rl_score_sum: 67.9191, score_diff: -1.6883, il_win: 76.0000, rl_win: 382.0000
2025-09-24 15:40:04,125 - mmdet - INFO - Epoch [19][1360/3517]	lr: 7.365e-06, eta: 4:24:27, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1849, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2357, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3345, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4407, loss_rl: -0.2541, loss_critic: 1.4074, loss_rl_bc: 0.0083, il_score: 0.6700, rl_score: 0.6857, prev_frame_loss_waypoint_0: 0.2031, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.5918, grad_norm: 60.7400, il_score_sum: 66.2308, rl_score_sum: 67.9191, score_diff: -1.6883, il_win: 76.0000, rl_win: 382.0000
2025-09-24 15:40:20,104 - mmdet - INFO - Epoch [19][1380/3517]	lr: 7.365e-06, eta: 4:24:11, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1529, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2776, debug_std_frame_3: 0.3267, debug_std_frame_4: 0.3760, debug_std_frame_5: 0.4276, loss_rl: -0.2936, loss_critic: 1.5714, loss_rl_bc: 0.0021, il_score: 0.6915, rl_score: 0.6942, prev_frame_loss_waypoint_0: 0.1575, prev_frame_loss_rl_bc_0: -0.0005, loss: 1.6176, grad_norm: 41.7594, il_score_sum: 66.2308, rl_score_sum: 67.9191, score_diff: -1.6883, il_win: 76.0000, rl_win: 382.0000
2025-09-24 15:40:36,288 - mmdet - INFO - Epoch [19][1400/3517]	lr: 7.365e-06, eta: 4:23:55, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1755, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2305, debug_std_frame_2: 0.2803, debug_std_frame_3: 0.3346, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4443, loss_rl: -0.2626, loss_critic: 1.3211, loss_rl_bc: 0.0058, il_score: 0.6537, rl_score: 0.6815, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.4426, grad_norm: 46.9797, il_score_sum: 66.3221, rl_score_sum: 67.9721, score_diff: -1.6500, il_win: 76.0000, rl_win: 382.4286
2025-09-24 15:40:52,350 - mmdet - INFO - Epoch [19][1420/3517]	lr: 7.365e-06, eta: 4:23:39, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1789, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2328, debug_std_frame_2: 0.2773, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3783, debug_std_frame_5: 0.4338, loss_rl: -0.2790, loss_critic: 1.3550, loss_rl_bc: 0.0088, il_score: 0.6870, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.4830, grad_norm: 44.4034, il_score_sum: 66.3221, rl_score_sum: 67.9721, score_diff: -1.6500, il_win: 76.0000, rl_win: 382.4286
2025-09-24 15:41:08,320 - mmdet - INFO - Epoch [19][1440/3517]	lr: 7.365e-06, eta: 4:23:23, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1536, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3196, debug_std_frame_4: 0.3672, debug_std_frame_5: 0.4220, loss_rl: -0.2827, loss_critic: 1.2743, loss_rl_bc: -0.0001, il_score: 0.6828, rl_score: 0.6841, prev_frame_loss_waypoint_0: 0.1621, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3356, grad_norm: 42.1809, il_score_sum: 66.3221, rl_score_sum: 67.9721, score_diff: -1.6500, il_win: 76.0000, rl_win: 382.4286
2025-09-24 15:41:24,300 - mmdet - INFO - Epoch [19][1460/3517]	lr: 7.365e-06, eta: 4:23:07, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1737, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2789, debug_std_frame_3: 0.3320, debug_std_frame_4: 0.3830, debug_std_frame_5: 0.4373, loss_rl: -0.2613, loss_critic: 1.2309, loss_rl_bc: 0.0060, il_score: 0.6241, rl_score: 0.6737, prev_frame_loss_waypoint_0: 0.1738, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.3511, grad_norm: 47.5589, il_score_sum: 66.3221, rl_score_sum: 67.9721, score_diff: -1.6500, il_win: 76.0000, rl_win: 382.4286
2025-09-24 15:41:40,115 - mmdet - INFO - Epoch [19][1480/3517]	lr: 7.365e-06, eta: 4:22:51, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1577, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2667, debug_std_frame_3: 0.3134, debug_std_frame_4: 0.3596, debug_std_frame_5: 0.4116, loss_rl: -0.2944, loss_critic: 1.2816, loss_rl_bc: 0.0018, il_score: 0.6978, rl_score: 0.6993, prev_frame_loss_waypoint_0: 0.1632, prev_frame_loss_rl_bc_0: -0.0012, loss: 1.3336, grad_norm: 45.2445, il_score_sum: 66.3221, rl_score_sum: 67.9721, score_diff: -1.6500, il_win: 76.0000, rl_win: 382.4286
2025-09-24 15:41:56,536 - mmdet - INFO - Epoch [19][1500/3517]	lr: 7.365e-06, eta: 4:22:35, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1782, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3293, debug_std_frame_4: 0.3813, debug_std_frame_5: 0.4360, loss_rl: -0.2971, loss_critic: 1.2501, loss_rl_bc: 0.0126, il_score: 0.6613, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3647, grad_norm: 49.5544, il_score_sum: 66.3472, rl_score_sum: 68.0192, score_diff: -1.6720, il_win: 76.0000, rl_win: 382.8667
2025-09-24 15:42:12,354 - mmdet - INFO - Epoch [19][1520/3517]	lr: 7.365e-06, eta: 4:22:19, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1737, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2812, debug_std_frame_3: 0.3361, debug_std_frame_4: 0.3902, debug_std_frame_5: 0.4496, loss_rl: -0.2343, loss_critic: 1.1905, loss_rl_bc: 0.0101, il_score: 0.6327, rl_score: 0.6463, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.3660, grad_norm: 38.7069, il_score_sum: 66.3472, rl_score_sum: 68.0192, score_diff: -1.6720, il_win: 76.0000, rl_win: 382.8667
2025-09-24 15:42:28,251 - mmdet - INFO - Epoch [19][1540/3517]	lr: 7.365e-06, eta: 4:22:03, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1567, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2765, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3760, debug_std_frame_5: 0.4278, loss_rl: -0.2608, loss_critic: 1.4220, loss_rl_bc: 0.0047, il_score: 0.6590, rl_score: 0.6788, prev_frame_loss_waypoint_0: 0.1677, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.5214, grad_norm: 49.2459, il_score_sum: 66.3472, rl_score_sum: 68.0192, score_diff: -1.6720, il_win: 76.0000, rl_win: 382.8667
2025-09-24 15:42:44,172 - mmdet - INFO - Epoch [19][1560/3517]	lr: 7.365e-06, eta: 4:21:46, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1490, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2334, debug_std_frame_2: 0.2818, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3884, debug_std_frame_5: 0.4440, loss_rl: -0.2862, loss_critic: 1.4390, loss_rl_bc: 0.0022, il_score: 0.6570, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1690, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.5038, grad_norm: 45.7479, il_score_sum: 66.3472, rl_score_sum: 68.0192, score_diff: -1.6720, il_win: 76.0000, rl_win: 382.8667
2025-09-24 15:43:00,141 - mmdet - INFO - Epoch [19][1580/3517]	lr: 7.365e-06, eta: 4:21:30, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1627, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2766, debug_std_frame_3: 0.3263, debug_std_frame_4: 0.3800, debug_std_frame_5: 0.4364, loss_rl: -0.2679, loss_critic: 1.2303, loss_rl_bc: 0.0045, il_score: 0.6811, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.1790, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.3411, grad_norm: 46.9783, il_score_sum: 66.3472, rl_score_sum: 68.0192, score_diff: -1.6720, il_win: 76.0000, rl_win: 382.8667
2025-09-24 15:43:16,244 - mmdet - INFO - Epoch [19][1600/3517]	lr: 7.365e-06, eta: 4:21:14, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1594, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3691, debug_std_frame_5: 0.4235, loss_rl: -0.2839, loss_critic: 1.4427, loss_rl_bc: 0.0068, il_score: 0.6862, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1682, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.5229, grad_norm: 60.3612, il_score_sum: 66.3431, rl_score_sum: 67.9929, score_diff: -1.6498, il_win: 76.0000, rl_win: 383.3125
2025-09-24 15:43:32,195 - mmdet - INFO - Epoch [19][1620/3517]	lr: 7.365e-06, eta: 4:20:58, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1590, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3773, debug_std_frame_5: 0.4325, loss_rl: -0.2989, loss_critic: 1.1218, loss_rl_bc: 0.0042, il_score: 0.6407, rl_score: 0.6929, prev_frame_loss_waypoint_0: 0.1820, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.2016, grad_norm: 43.2511, il_score_sum: 66.3431, rl_score_sum: 67.9929, score_diff: -1.6498, il_win: 76.0000, rl_win: 383.3125
2025-09-24 15:43:48,064 - mmdet - INFO - Epoch [19][1640/3517]	lr: 7.365e-06, eta: 4:20:42, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1570, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2285, debug_std_frame_2: 0.2766, debug_std_frame_3: 0.3281, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4332, loss_rl: -0.2807, loss_critic: 1.3687, loss_rl_bc: 0.0050, il_score: 0.6797, rl_score: 0.7026, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.4510, grad_norm: 33.9059, il_score_sum: 66.3431, rl_score_sum: 67.9929, score_diff: -1.6498, il_win: 76.0000, rl_win: 383.3125
2025-09-24 15:44:04,142 - mmdet - INFO - Epoch [19][1660/3517]	lr: 7.365e-06, eta: 4:20:26, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1744, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3791, debug_std_frame_5: 0.4348, loss_rl: -0.2471, loss_critic: 1.4109, loss_rl_bc: 0.0099, il_score: 0.6434, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5708, grad_norm: 52.1656, il_score_sum: 66.3431, rl_score_sum: 67.9929, score_diff: -1.6498, il_win: 76.0000, rl_win: 383.3125
2025-09-24 15:44:20,151 - mmdet - INFO - Epoch [19][1680/3517]	lr: 7.365e-06, eta: 4:20:10, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1771, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2281, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3343, debug_std_frame_4: 0.3875, debug_std_frame_5: 0.4459, loss_rl: -0.2097, loss_critic: 1.3258, loss_rl_bc: 0.0067, il_score: 0.6470, rl_score: 0.6629, prev_frame_loss_waypoint_0: 0.1879, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.5215, grad_norm: 47.1369, il_score_sum: 66.3431, rl_score_sum: 67.9929, score_diff: -1.6498, il_win: 76.0000, rl_win: 383.3125
2025-09-24 15:44:36,138 - mmdet - INFO - Epoch [19][1700/3517]	lr: 7.365e-06, eta: 4:19:54, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1934, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2280, debug_std_frame_2: 0.2783, debug_std_frame_3: 0.3319, debug_std_frame_4: 0.3856, debug_std_frame_5: 0.4373, loss_rl: -0.2816, loss_critic: 1.3738, loss_rl_bc: 0.0147, il_score: 0.6554, rl_score: 0.6770, prev_frame_loss_waypoint_0: 0.2011, prev_frame_loss_rl_bc_0: 0.0160, loss: 1.5437, grad_norm: 38.6067, il_score_sum: 66.2964, rl_score_sum: 67.9961, score_diff: -1.6998, il_win: 76.0000, rl_win: 383.7647
2025-09-24 15:44:51,886 - mmdet - INFO - Epoch [19][1720/3517]	lr: 7.365e-06, eta: 4:19:38, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1698, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2813, debug_std_frame_3: 0.3318, debug_std_frame_4: 0.3826, debug_std_frame_5: 0.4381, loss_rl: -0.2091, loss_critic: 1.4824, loss_rl_bc: 0.0069, il_score: 0.6529, rl_score: 0.6627, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.6810, grad_norm: 38.4556, il_score_sum: 66.2964, rl_score_sum: 67.9961, score_diff: -1.6998, il_win: 76.0000, rl_win: 383.7647
2025-09-24 15:45:07,993 - mmdet - INFO - Epoch [19][1740/3517]	lr: 7.365e-06, eta: 4:19:22, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1504, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2290, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3321, debug_std_frame_4: 0.3824, debug_std_frame_5: 0.4377, loss_rl: -0.2913, loss_critic: 1.3772, loss_rl_bc: 0.0020, il_score: 0.7032, rl_score: 0.7021, prev_frame_loss_waypoint_0: 0.1637, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.4313, grad_norm: 38.8058, il_score_sum: 66.2964, rl_score_sum: 67.9961, score_diff: -1.6998, il_win: 76.0000, rl_win: 383.7647
2025-09-24 15:45:23,936 - mmdet - INFO - Epoch [19][1760/3517]	lr: 7.365e-06, eta: 4:19:05, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1867, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2326, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3382, debug_std_frame_4: 0.3909, debug_std_frame_5: 0.4464, loss_rl: -0.2426, loss_critic: 1.1445, loss_rl_bc: 0.0107, il_score: 0.6440, rl_score: 0.6841, prev_frame_loss_waypoint_0: 0.1846, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.3173, grad_norm: 48.3726, il_score_sum: 66.2964, rl_score_sum: 67.9961, score_diff: -1.6998, il_win: 76.0000, rl_win: 383.7647
2025-09-24 15:45:39,862 - mmdet - INFO - Epoch [19][1780/3517]	lr: 7.365e-06, eta: 4:18:49, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1866, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2782, debug_std_frame_3: 0.3329, debug_std_frame_4: 0.3851, debug_std_frame_5: 0.4384, loss_rl: -0.2359, loss_critic: 1.2406, loss_rl_bc: 0.0086, il_score: 0.6795, rl_score: 0.6731, prev_frame_loss_waypoint_0: 0.1769, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.4114, grad_norm: 47.6335, il_score_sum: 66.2964, rl_score_sum: 67.9961, score_diff: -1.6998, il_win: 76.0000, rl_win: 383.7647
2025-09-24 15:45:56,035 - mmdet - INFO - Epoch [19][1800/3517]	lr: 7.365e-06, eta: 4:18:33, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1707, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2838, debug_std_frame_3: 0.3399, debug_std_frame_4: 0.3965, debug_std_frame_5: 0.4545, loss_rl: -0.2421, loss_critic: 1.3825, loss_rl_bc: 0.0057, il_score: 0.6624, rl_score: 0.6766, prev_frame_loss_waypoint_0: 0.1867, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.5347, grad_norm: 34.4354, il_score_sum: 66.3175, rl_score_sum: 67.9946, score_diff: -1.6770, il_win: 76.0000, rl_win: 384.2222
2025-09-24 15:46:12,110 - mmdet - INFO - Epoch [19][1820/3517]	lr: 7.365e-06, eta: 4:18:17, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1854, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3205, debug_std_frame_4: 0.3700, debug_std_frame_5: 0.4234, loss_rl: -0.2758, loss_critic: 1.4328, loss_rl_bc: 0.0107, il_score: 0.6666, rl_score: 0.6960, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.5733, grad_norm: 55.2158, il_score_sum: 66.3175, rl_score_sum: 67.9946, score_diff: -1.6770, il_win: 76.0000, rl_win: 384.2222
2025-09-24 15:46:28,161 - mmdet - INFO - Epoch [19][1840/3517]	lr: 7.365e-06, eta: 4:18:01, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1625, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2800, debug_std_frame_3: 0.3319, debug_std_frame_4: 0.3854, debug_std_frame_5: 0.4450, loss_rl: -0.2564, loss_critic: 1.2543, loss_rl_bc: 0.0030, il_score: 0.6533, rl_score: 0.6886, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.3692, grad_norm: 45.9179, il_score_sum: 66.3175, rl_score_sum: 67.9946, score_diff: -1.6770, il_win: 76.0000, rl_win: 384.2222
2025-09-24 15:46:44,065 - mmdet - INFO - Epoch [19][1860/3517]	lr: 7.365e-06, eta: 4:17:45, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1514, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3829, debug_std_frame_5: 0.4382, loss_rl: -0.3095, loss_critic: 1.4684, loss_rl_bc: 0.0007, il_score: 0.6809, rl_score: 0.6932, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.5380, grad_norm: 49.6962, il_score_sum: 66.3175, rl_score_sum: 67.9946, score_diff: -1.6770, il_win: 76.0000, rl_win: 384.2222
2025-09-24 15:46:59,968 - mmdet - INFO - Epoch [19][1880/3517]	lr: 7.365e-06, eta: 4:17:29, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1523, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2661, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3630, debug_std_frame_5: 0.4185, loss_rl: -0.2879, loss_critic: 1.4331, loss_rl_bc: 0.0050, il_score: 0.6494, rl_score: 0.6664, prev_frame_loss_waypoint_0: 0.1667, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.4988, grad_norm: 40.8781, il_score_sum: 66.3175, rl_score_sum: 67.9946, score_diff: -1.6770, il_win: 76.0000, rl_win: 384.2222
2025-09-24 15:47:16,196 - mmdet - INFO - Epoch [19][1900/3517]	lr: 7.365e-06, eta: 4:17:13, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1629, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2815, debug_std_frame_3: 0.3365, debug_std_frame_4: 0.3926, debug_std_frame_5: 0.4493, loss_rl: -0.2632, loss_critic: 1.3172, loss_rl_bc: 0.0039, il_score: 0.6765, rl_score: 0.6779, prev_frame_loss_waypoint_0: 0.1808, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.4344, grad_norm: 34.8135, il_score_sum: 66.3302, rl_score_sum: 68.0220, score_diff: -1.6918, il_win: 76.0000, rl_win: 384.6842
2025-09-24 15:47:32,089 - mmdet - INFO - Epoch [19][1920/3517]	lr: 7.365e-06, eta: 4:16:57, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1863, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3303, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4433, loss_rl: -0.2226, loss_critic: 1.1411, loss_rl_bc: 0.0072, il_score: 0.6701, rl_score: 0.6747, prev_frame_loss_waypoint_0: 0.1828, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.3299, grad_norm: 60.8274, il_score_sum: 66.3302, rl_score_sum: 68.0220, score_diff: -1.6918, il_win: 76.0000, rl_win: 384.6842
2025-09-24 15:47:49,424 - mmdet - INFO - Epoch [19][1940/3517]	lr: 7.365e-06, eta: 4:16:41, time: 0.867, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1640, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2309, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3286, debug_std_frame_4: 0.3790, debug_std_frame_5: 0.4303, loss_rl: -0.2457, loss_critic: 1.4494, loss_rl_bc: 0.0067, il_score: 0.6485, rl_score: 0.6839, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0107, loss: 1.5927, grad_norm: 45.0215, il_score_sum: 66.3302, rl_score_sum: 68.0220, score_diff: -1.6918, il_win: 76.0000, rl_win: 384.6842
2025-09-24 15:48:05,339 - mmdet - INFO - Epoch [19][1960/3517]	lr: 7.365e-06, eta: 4:16:25, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1565, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2290, debug_std_frame_2: 0.2772, debug_std_frame_3: 0.3326, debug_std_frame_4: 0.3847, debug_std_frame_5: 0.4401, loss_rl: -0.2696, loss_critic: 1.6623, loss_rl_bc: 0.0047, il_score: 0.6403, rl_score: 0.6590, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0120, loss: 1.7789, grad_norm: 35.4921, il_score_sum: 66.3302, rl_score_sum: 68.0220, score_diff: -1.6918, il_win: 76.0000, rl_win: 384.6842
2025-09-24 15:48:21,464 - mmdet - INFO - Epoch [19][1980/3517]	lr: 7.365e-06, eta: 4:16:09, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1628, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2292, debug_std_frame_2: 0.2782, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3879, debug_std_frame_5: 0.4507, loss_rl: -0.2578, loss_critic: 1.0928, loss_rl_bc: 0.0051, il_score: 0.6867, rl_score: 0.6962, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.2229, grad_norm: 59.2396, il_score_sum: 66.3302, rl_score_sum: 68.0220, score_diff: -1.6918, il_win: 76.0000, rl_win: 384.6842
2025-09-24 15:48:37,750 - mmdet - INFO - Epoch [19][2000/3517]	lr: 7.365e-06, eta: 4:15:53, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1719, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2758, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3773, debug_std_frame_5: 0.4298, loss_rl: -0.2664, loss_critic: 1.2559, loss_rl_bc: 0.0109, il_score: 0.6530, rl_score: 0.6683, prev_frame_loss_waypoint_0: 0.1735, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.3784, grad_norm: 58.4072, il_score_sum: 66.3074, rl_score_sum: 67.9971, score_diff: -1.6896, il_win: 76.0000, rl_win: 385.1500
2025-09-24 15:48:53,590 - mmdet - INFO - Epoch [19][2020/3517]	lr: 7.365e-06, eta: 4:15:37, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1636, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2319, debug_std_frame_2: 0.2823, debug_std_frame_3: 0.3362, debug_std_frame_4: 0.3917, debug_std_frame_5: 0.4525, loss_rl: -0.2622, loss_critic: 1.5420, loss_rl_bc: 0.0088, il_score: 0.6376, rl_score: 0.6679, prev_frame_loss_waypoint_0: 0.1831, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6727, grad_norm: 40.2427, il_score_sum: 66.3074, rl_score_sum: 67.9971, score_diff: -1.6896, il_win: 76.0000, rl_win: 385.1500
2025-09-24 15:49:09,433 - mmdet - INFO - Epoch [19][2040/3517]	lr: 7.365e-06, eta: 4:15:21, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1482, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2292, debug_std_frame_2: 0.2787, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4404, loss_rl: -0.2507, loss_critic: 1.3593, loss_rl_bc: 0.0004, il_score: 0.6776, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.4729, grad_norm: 42.2746, il_score_sum: 66.3074, rl_score_sum: 67.9971, score_diff: -1.6896, il_win: 76.0000, rl_win: 385.1500
2025-09-24 15:49:25,439 - mmdet - INFO - Epoch [19][2060/3517]	lr: 7.365e-06, eta: 4:15:04, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1888, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2350, debug_std_frame_2: 0.2844, debug_std_frame_3: 0.3364, debug_std_frame_4: 0.3911, debug_std_frame_5: 0.4474, loss_rl: -0.2523, loss_critic: 1.4158, loss_rl_bc: 0.0119, il_score: 0.6521, rl_score: 0.6699, prev_frame_loss_waypoint_0: 0.1928, prev_frame_loss_rl_bc_0: 0.0109, loss: 1.5941, grad_norm: 39.2491, il_score_sum: 66.3074, rl_score_sum: 67.9971, score_diff: -1.6896, il_win: 76.0000, rl_win: 385.1500
2025-09-24 15:49:41,422 - mmdet - INFO - Epoch [19][2080/3517]	lr: 7.365e-06, eta: 4:14:48, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1526, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2334, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3317, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4364, loss_rl: -0.2606, loss_critic: 1.4199, loss_rl_bc: 0.0028, il_score: 0.6958, rl_score: 0.6999, prev_frame_loss_waypoint_0: 0.1697, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.5159, grad_norm: 44.6283, il_score_sum: 66.3074, rl_score_sum: 67.9971, score_diff: -1.6896, il_win: 76.0000, rl_win: 385.1500
2025-09-24 15:49:57,524 - mmdet - INFO - Epoch [19][2100/3517]	lr: 7.365e-06, eta: 4:14:32, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1602, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2737, debug_std_frame_3: 0.3211, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4214, loss_rl: -0.2881, loss_critic: 1.5307, loss_rl_bc: 0.0031, il_score: 0.6566, rl_score: 0.6947, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0183, loss: 1.6226, grad_norm: 52.6174, il_score_sum: 66.2644, rl_score_sum: 68.0019, score_diff: -1.7375, il_win: 76.0000, rl_win: 386.0500
2025-09-24 15:50:13,499 - mmdet - INFO - Epoch [19][2120/3517]	lr: 7.365e-06, eta: 4:14:16, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1613, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2363, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3320, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4407, loss_rl: -0.3105, loss_critic: 1.7941, loss_rl_bc: 0.0020, il_score: 0.6254, rl_score: 0.6752, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.8521, grad_norm: 50.2200, il_score_sum: 66.2644, rl_score_sum: 68.0019, score_diff: -1.7375, il_win: 76.0000, rl_win: 386.0500
2025-09-24 15:50:29,652 - mmdet - INFO - Epoch [19][2140/3517]	lr: 7.365e-06, eta: 4:14:00, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1578, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2374, debug_std_frame_2: 0.2852, debug_std_frame_3: 0.3339, debug_std_frame_4: 0.3842, debug_std_frame_5: 0.4392, loss_rl: -0.2657, loss_critic: 1.1018, loss_rl_bc: 0.0015, il_score: 0.6912, rl_score: 0.7021, prev_frame_loss_waypoint_0: 0.1764, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.2040, grad_norm: 43.8789, il_score_sum: 66.2644, rl_score_sum: 68.0019, score_diff: -1.7375, il_win: 76.0000, rl_win: 386.0500
2025-09-24 15:50:45,791 - mmdet - INFO - Epoch [19][2160/3517]	lr: 7.365e-06, eta: 4:13:44, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1560, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3835, debug_std_frame_5: 0.4412, loss_rl: -0.3071, loss_critic: 1.1236, loss_rl_bc: 0.0034, il_score: 0.6779, rl_score: 0.6923, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.1795, grad_norm: 48.6137, il_score_sum: 66.2644, rl_score_sum: 68.0019, score_diff: -1.7375, il_win: 76.0000, rl_win: 386.0500
2025-09-24 15:51:01,759 - mmdet - INFO - Epoch [19][2180/3517]	lr: 7.365e-06, eta: 4:13:28, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1478, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2301, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3739, debug_std_frame_5: 0.4276, loss_rl: -0.3465, loss_critic: 1.1858, loss_rl_bc: -0.0001, il_score: 0.6935, rl_score: 0.7160, prev_frame_loss_waypoint_0: 0.1789, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.2024, grad_norm: 31.1686, il_score_sum: 66.2644, rl_score_sum: 68.0019, score_diff: -1.7375, il_win: 76.0000, rl_win: 386.0500
2025-09-24 15:51:17,958 - mmdet - INFO - Epoch [19][2200/3517]	lr: 7.365e-06, eta: 4:13:12, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1732, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3174, debug_std_frame_4: 0.3641, debug_std_frame_5: 0.4146, loss_rl: -0.2953, loss_critic: 1.4365, loss_rl_bc: 0.0085, il_score: 0.6649, rl_score: 0.6856, prev_frame_loss_waypoint_0: 0.1808, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5343, grad_norm: 43.9098, il_score_sum: 66.2841, rl_score_sum: 68.0930, score_diff: -1.8088, il_win: 76.0000, rl_win: 386.9500
2025-09-24 15:51:33,992 - mmdet - INFO - Epoch [19][2220/3517]	lr: 7.365e-06, eta: 4:12:56, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1625, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2292, debug_std_frame_2: 0.2766, debug_std_frame_3: 0.3263, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4327, loss_rl: -0.3092, loss_critic: 1.2815, loss_rl_bc: 0.0050, il_score: 0.6703, rl_score: 0.6861, prev_frame_loss_waypoint_0: 0.1727, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.3447, grad_norm: 43.7080, il_score_sum: 66.2841, rl_score_sum: 68.0930, score_diff: -1.8088, il_win: 76.0000, rl_win: 386.9500
2025-09-24 15:51:50,183 - mmdet - INFO - Epoch [19][2240/3517]	lr: 7.365e-06, eta: 4:12:40, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1574, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4407, loss_rl: -0.2646, loss_critic: 1.1536, loss_rl_bc: 0.0049, il_score: 0.6874, rl_score: 0.6942, prev_frame_loss_waypoint_0: 0.1663, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.2481, grad_norm: 34.9221, il_score_sum: 66.2841, rl_score_sum: 68.0930, score_diff: -1.8088, il_win: 76.0000, rl_win: 386.9500
2025-09-24 15:52:06,266 - mmdet - INFO - Epoch [19][2260/3517]	lr: 7.365e-06, eta: 4:12:24, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1466, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3121, debug_std_frame_4: 0.3580, debug_std_frame_5: 0.4079, loss_rl: -0.2753, loss_critic: 1.6909, loss_rl_bc: 0.0020, il_score: 0.6660, rl_score: 0.6758, prev_frame_loss_waypoint_0: 0.1570, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.7507, grad_norm: 42.4203, il_score_sum: 66.2841, rl_score_sum: 68.0930, score_diff: -1.8088, il_win: 76.0000, rl_win: 386.9500
2025-09-24 15:52:22,382 - mmdet - INFO - Epoch [19][2280/3517]	lr: 7.365e-06, eta: 4:12:08, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1561, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2253, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3229, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4285, loss_rl: -0.2685, loss_critic: 1.3104, loss_rl_bc: 0.0036, il_score: 0.6526, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.4179, grad_norm: 38.9995, il_score_sum: 66.2841, rl_score_sum: 68.0930, score_diff: -1.8088, il_win: 76.0000, rl_win: 386.9500
2025-09-24 15:52:38,525 - mmdet - INFO - Epoch [19][2300/3517]	lr: 7.365e-06, eta: 4:11:52, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1671, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2295, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3730, debug_std_frame_5: 0.4293, loss_rl: -0.2547, loss_critic: 1.4042, loss_rl_bc: 0.0069, il_score: 0.6713, rl_score: 0.6868, prev_frame_loss_waypoint_0: 0.1765, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.5335, grad_norm: 43.8665, il_score_sum: 66.3701, rl_score_sum: 68.1340, score_diff: -1.7639, il_win: 76.0000, rl_win: 387.8500
2025-09-24 15:52:54,407 - mmdet - INFO - Epoch [19][2320/3517]	lr: 7.365e-06, eta: 4:11:35, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1541, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3688, debug_std_frame_5: 0.4259, loss_rl: -0.2684, loss_critic: 1.5071, loss_rl_bc: 0.0037, il_score: 0.6762, rl_score: 0.6836, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.5960, grad_norm: 39.2855, il_score_sum: 66.3701, rl_score_sum: 68.1340, score_diff: -1.7639, il_win: 76.0000, rl_win: 387.8500
2025-09-24 15:53:10,322 - mmdet - INFO - Epoch [19][2340/3517]	lr: 7.365e-06, eta: 4:11:19, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1836, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2847, debug_std_frame_3: 0.3386, debug_std_frame_4: 0.3948, debug_std_frame_5: 0.4537, loss_rl: -0.2161, loss_critic: 1.3968, loss_rl_bc: 0.0080, il_score: 0.6547, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.1928, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.6024, grad_norm: 40.4105, il_score_sum: 66.3701, rl_score_sum: 68.1340, score_diff: -1.7639, il_win: 76.0000, rl_win: 387.8500
2025-09-24 15:53:26,202 - mmdet - INFO - Epoch [19][2360/3517]	lr: 7.365e-06, eta: 4:11:03, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1607, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2337, debug_std_frame_2: 0.2794, debug_std_frame_3: 0.3315, debug_std_frame_4: 0.3857, debug_std_frame_5: 0.4435, loss_rl: -0.2732, loss_critic: 1.0721, loss_rl_bc: 0.0053, il_score: 0.6814, rl_score: 0.7116, prev_frame_loss_waypoint_0: 0.1776, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.1758, grad_norm: 39.1545, il_score_sum: 66.3701, rl_score_sum: 68.1340, score_diff: -1.7639, il_win: 76.0000, rl_win: 387.8500
2025-09-24 15:53:42,232 - mmdet - INFO - Epoch [19][2380/3517]	lr: 7.365e-06, eta: 4:10:47, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1900, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2313, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3276, debug_std_frame_4: 0.3794, debug_std_frame_5: 0.4411, loss_rl: -0.2252, loss_critic: 1.3656, loss_rl_bc: 0.0307, il_score: 0.6333, rl_score: 0.6493, prev_frame_loss_waypoint_0: 0.2086, prev_frame_loss_rl_bc_0: 0.0429, loss: 1.6395, grad_norm: 61.9960, il_score_sum: 66.3701, rl_score_sum: 68.1340, score_diff: -1.7639, il_win: 76.0000, rl_win: 387.8500
2025-09-24 15:53:58,456 - mmdet - INFO - Epoch [19][2400/3517]	lr: 7.365e-06, eta: 4:10:31, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1710, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2340, debug_std_frame_2: 0.2838, debug_std_frame_3: 0.3347, debug_std_frame_4: 0.3882, debug_std_frame_5: 0.4490, loss_rl: -0.2277, loss_critic: 1.3355, loss_rl_bc: 0.0087, il_score: 0.6739, rl_score: 0.6704, prev_frame_loss_waypoint_0: 0.1583, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.4782, grad_norm: 43.1610, il_score_sum: 66.3478, rl_score_sum: 68.1368, score_diff: -1.7891, il_win: 76.0000, rl_win: 388.8000
2025-09-24 15:54:14,294 - mmdet - INFO - Epoch [19][2420/3517]	lr: 7.365e-06, eta: 4:10:15, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1723, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2785, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4442, loss_rl: -0.2250, loss_critic: 1.2879, loss_rl_bc: 0.0067, il_score: 0.6703, rl_score: 0.6713, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.4651, grad_norm: 42.4152, il_score_sum: 66.3478, rl_score_sum: 68.1368, score_diff: -1.7891, il_win: 76.0000, rl_win: 388.8000
2025-09-24 15:54:30,315 - mmdet - INFO - Epoch [19][2440/3517]	lr: 7.365e-06, eta: 4:09:59, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1698, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2795, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3876, debug_std_frame_5: 0.4477, loss_rl: -0.2771, loss_critic: 1.1996, loss_rl_bc: 0.0048, il_score: 0.6511, rl_score: 0.7092, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.3031, grad_norm: 38.3833, il_score_sum: 66.3478, rl_score_sum: 68.1368, score_diff: -1.7891, il_win: 76.0000, rl_win: 388.8000
2025-09-24 15:54:46,436 - mmdet - INFO - Epoch [19][2460/3517]	lr: 7.365e-06, eta: 4:09:43, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1904, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2321, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3354, debug_std_frame_4: 0.3858, debug_std_frame_5: 0.4455, loss_rl: -0.2628, loss_critic: 1.3282, loss_rl_bc: 0.0102, il_score: 0.6527, rl_score: 0.6907, prev_frame_loss_waypoint_0: 0.2010, prev_frame_loss_rl_bc_0: 0.0118, loss: 1.5051, grad_norm: 67.2168, il_score_sum: 66.3478, rl_score_sum: 68.1368, score_diff: -1.7891, il_win: 76.0000, rl_win: 388.8000
2025-09-24 15:55:02,390 - mmdet - INFO - Epoch [19][2480/3517]	lr: 7.365e-06, eta: 4:09:27, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1555, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2244, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3233, debug_std_frame_4: 0.3708, debug_std_frame_5: 0.4235, loss_rl: -0.3051, loss_critic: 1.4087, loss_rl_bc: 0.0016, il_score: 0.6622, rl_score: 0.6683, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.4617, grad_norm: 40.5219, il_score_sum: 66.3478, rl_score_sum: 68.1368, score_diff: -1.7891, il_win: 76.0000, rl_win: 388.8000
2025-09-24 15:55:18,566 - mmdet - INFO - Epoch [19][2500/3517]	lr: 7.365e-06, eta: 4:09:11, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1684, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2309, debug_std_frame_2: 0.2812, debug_std_frame_3: 0.3359, debug_std_frame_4: 0.3894, debug_std_frame_5: 0.4491, loss_rl: -0.2475, loss_critic: 1.3084, loss_rl_bc: 0.0068, il_score: 0.6947, rl_score: 0.6883, prev_frame_loss_waypoint_0: 0.1929, prev_frame_loss_rl_bc_0: 0.0132, loss: 1.4684, grad_norm: 49.7421, il_score_sum: 66.2910, rl_score_sum: 68.0640, score_diff: -1.7730, il_win: 76.0000, rl_win: 389.7500
2025-09-24 15:55:34,448 - mmdet - INFO - Epoch [19][2520/3517]	lr: 7.365e-06, eta: 4:08:55, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1728, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3252, debug_std_frame_4: 0.3757, debug_std_frame_5: 0.4325, loss_rl: -0.2186, loss_critic: 1.2171, loss_rl_bc: 0.0077, il_score: 0.6650, rl_score: 0.6797, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.3960, grad_norm: 44.5065, il_score_sum: 66.2910, rl_score_sum: 68.0640, score_diff: -1.7730, il_win: 76.0000, rl_win: 389.7500
2025-09-24 15:55:50,617 - mmdet - INFO - Epoch [19][2540/3517]	lr: 7.365e-06, eta: 4:08:38, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1561, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2771, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3808, debug_std_frame_5: 0.4382, loss_rl: -0.2597, loss_critic: 1.4337, loss_rl_bc: 0.0027, il_score: 0.6818, rl_score: 0.6970, prev_frame_loss_waypoint_0: 0.1642, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.5248, grad_norm: 33.0566, il_score_sum: 66.2910, rl_score_sum: 68.0640, score_diff: -1.7730, il_win: 76.0000, rl_win: 389.7500
2025-09-24 15:56:06,810 - mmdet - INFO - Epoch [19][2560/3517]	lr: 7.365e-06, eta: 4:08:22, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1753, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3710, debug_std_frame_5: 0.4262, loss_rl: -0.2644, loss_critic: 1.3117, loss_rl_bc: 0.0066, il_score: 0.6622, rl_score: 0.6733, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.4323, grad_norm: 52.5682, il_score_sum: 66.2910, rl_score_sum: 68.0640, score_diff: -1.7730, il_win: 76.0000, rl_win: 389.7500
2025-09-24 15:56:22,919 - mmdet - INFO - Epoch [19][2580/3517]	lr: 7.365e-06, eta: 4:08:06, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1566, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3204, debug_std_frame_4: 0.3708, debug_std_frame_5: 0.4261, loss_rl: -0.2695, loss_critic: 1.4464, loss_rl_bc: 0.0038, il_score: 0.6633, rl_score: 0.6721, prev_frame_loss_waypoint_0: 0.1684, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.5381, grad_norm: 42.8272, il_score_sum: 66.2910, rl_score_sum: 68.0640, score_diff: -1.7730, il_win: 76.0000, rl_win: 389.7500
2025-09-24 15:56:39,126 - mmdet - INFO - Epoch [19][2600/3517]	lr: 7.365e-06, eta: 4:07:50, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1770, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2718, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4363, loss_rl: -0.2218, loss_critic: 1.2883, loss_rl_bc: 0.0078, il_score: 0.6532, rl_score: 0.6790, prev_frame_loss_waypoint_0: 0.1868, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.4716, grad_norm: 53.9659, il_score_sum: 66.3600, rl_score_sum: 68.1276, score_diff: -1.7677, il_win: 76.0000, rl_win: 390.7000
2025-09-24 15:56:55,169 - mmdet - INFO - Epoch [19][2620/3517]	lr: 7.365e-06, eta: 4:07:34, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1718, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3731, debug_std_frame_5: 0.4290, loss_rl: -0.2476, loss_critic: 1.2691, loss_rl_bc: 0.0069, il_score: 0.6601, rl_score: 0.6593, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.4358, grad_norm: 49.0857, il_score_sum: 66.3600, rl_score_sum: 68.1276, score_diff: -1.7677, il_win: 76.0000, rl_win: 390.7000
2025-09-24 15:57:11,141 - mmdet - INFO - Epoch [19][2640/3517]	lr: 7.365e-06, eta: 4:07:18, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1611, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3336, debug_std_frame_4: 0.3870, debug_std_frame_5: 0.4458, loss_rl: -0.2199, loss_critic: 1.5697, loss_rl_bc: 0.0089, il_score: 0.6262, rl_score: 0.6293, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.7350, grad_norm: 43.5816, il_score_sum: 66.3600, rl_score_sum: 68.1276, score_diff: -1.7677, il_win: 76.0000, rl_win: 390.7000
2025-09-24 15:57:27,287 - mmdet - INFO - Epoch [19][2660/3517]	lr: 7.365e-06, eta: 4:07:02, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1285, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2305, debug_std_frame_2: 0.2755, debug_std_frame_3: 0.3256, debug_std_frame_4: 0.3759, debug_std_frame_5: 0.4317, loss_rl: -0.3207, loss_critic: 1.3830, loss_rl_bc: -0.0019, il_score: 0.6551, rl_score: 0.6877, prev_frame_loss_waypoint_0: 0.1550, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.3729, grad_norm: 35.0733, il_score_sum: 66.3600, rl_score_sum: 68.1276, score_diff: -1.7677, il_win: 76.0000, rl_win: 390.7000
2025-09-24 15:57:43,333 - mmdet - INFO - Epoch [19][2680/3517]	lr: 7.365e-06, eta: 4:06:46, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1577, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2262, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3683, debug_std_frame_5: 0.4233, loss_rl: -0.2843, loss_critic: 1.3944, loss_rl_bc: 0.0087, il_score: 0.7046, rl_score: 0.7007, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.4759, grad_norm: 49.3721, il_score_sum: 66.3600, rl_score_sum: 68.1276, score_diff: -1.7677, il_win: 76.0000, rl_win: 390.7000
2025-09-24 15:57:59,652 - mmdet - INFO - Epoch [19][2700/3517]	lr: 7.365e-06, eta: 4:06:30, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1807, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2792, debug_std_frame_3: 0.3300, debug_std_frame_4: 0.3839, debug_std_frame_5: 0.4413, loss_rl: -0.2841, loss_critic: 1.2443, loss_rl_bc: 0.0085, il_score: 0.6554, rl_score: 0.6808, prev_frame_loss_waypoint_0: 0.1973, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.3824, grad_norm: 45.3817, il_score_sum: 66.4847, rl_score_sum: 68.1358, score_diff: -1.6512, il_win: 76.0000, rl_win: 391.6000
2025-09-24 15:58:15,727 - mmdet - INFO - Epoch [19][2720/3517]	lr: 7.365e-06, eta: 4:06:14, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0291, loss_waypoint: 0.1758, debug_std_frame_0: 0.2157, debug_std_frame_1: 0.2384, debug_std_frame_2: 0.2863, debug_std_frame_3: 0.3401, debug_std_frame_4: 0.3909, debug_std_frame_5: 0.4502, loss_rl: -0.2638, loss_critic: 1.2075, loss_rl_bc: 0.0065, il_score: 0.6601, rl_score: 0.6733, prev_frame_loss_waypoint_0: 0.2050, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.3694, grad_norm: 51.5357, il_score_sum: 66.4847, rl_score_sum: 68.1358, score_diff: -1.6512, il_win: 76.0000, rl_win: 391.6000
2025-09-24 15:58:31,735 - mmdet - INFO - Epoch [19][2740/3517]	lr: 7.365e-06, eta: 4:05:58, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1619, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2746, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3760, debug_std_frame_5: 0.4322, loss_rl: -0.2928, loss_critic: 1.2891, loss_rl_bc: 0.0060, il_score: 0.6449, rl_score: 0.6884, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.3735, grad_norm: 42.5374, il_score_sum: 66.4847, rl_score_sum: 68.1358, score_diff: -1.6512, il_win: 76.0000, rl_win: 391.6000
2025-09-24 15:58:47,824 - mmdet - INFO - Epoch [19][2760/3517]	lr: 7.365e-06, eta: 4:05:42, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1580, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4278, loss_rl: -0.2915, loss_critic: 1.4066, loss_rl_bc: 0.0035, il_score: 0.6998, rl_score: 0.6968, prev_frame_loss_waypoint_0: 0.1735, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4821, grad_norm: 42.3719, il_score_sum: 66.4847, rl_score_sum: 68.1358, score_diff: -1.6512, il_win: 76.0000, rl_win: 391.6000
2025-09-24 15:59:03,958 - mmdet - INFO - Epoch [19][2780/3517]	lr: 7.365e-06, eta: 4:05:26, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1783, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2821, debug_std_frame_3: 0.3371, debug_std_frame_4: 0.3918, debug_std_frame_5: 0.4487, loss_rl: -0.2294, loss_critic: 1.6154, loss_rl_bc: 0.0092, il_score: 0.6546, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.1946, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.8049, grad_norm: 46.0916, il_score_sum: 66.4847, rl_score_sum: 68.1358, score_diff: -1.6512, il_win: 76.0000, rl_win: 391.6000
2025-09-24 15:59:20,236 - mmdet - INFO - Epoch [19][2800/3517]	lr: 7.365e-06, eta: 4:05:10, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1556, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2785, debug_std_frame_3: 0.3328, debug_std_frame_4: 0.3892, debug_std_frame_5: 0.4515, loss_rl: -0.2620, loss_critic: 1.3673, loss_rl_bc: 0.0016, il_score: 0.6752, rl_score: 0.6875, prev_frame_loss_waypoint_0: 0.1790, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.4728, grad_norm: 62.1556, il_score_sum: 66.4370, rl_score_sum: 68.0658, score_diff: -1.6288, il_win: 76.0000, rl_win: 392.5000
2025-09-24 15:59:36,248 - mmdet - INFO - Epoch [19][2820/3517]	lr: 7.365e-06, eta: 4:04:54, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1554, debug_std_frame_0: 0.2155, debug_std_frame_1: 0.2325, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3379, debug_std_frame_4: 0.3944, debug_std_frame_5: 0.4542, loss_rl: -0.2655, loss_critic: 1.1713, loss_rl_bc: 0.0023, il_score: 0.6594, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.2751, grad_norm: 42.7138, il_score_sum: 66.4370, rl_score_sum: 68.0658, score_diff: -1.6288, il_win: 76.0000, rl_win: 392.5000
2025-09-24 15:59:52,400 - mmdet - INFO - Epoch [19][2840/3517]	lr: 7.365e-06, eta: 4:04:38, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1872, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3803, debug_std_frame_5: 0.4371, loss_rl: -0.2615, loss_critic: 1.3248, loss_rl_bc: 0.0189, il_score: 0.6469, rl_score: 0.6702, prev_frame_loss_waypoint_0: 0.1957, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.5020, grad_norm: 36.8479, il_score_sum: 66.4370, rl_score_sum: 68.0658, score_diff: -1.6288, il_win: 76.0000, rl_win: 392.5000
2025-09-24 16:00:08,617 - mmdet - INFO - Epoch [19][2860/3517]	lr: 7.365e-06, eta: 4:04:21, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1701, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2330, debug_std_frame_2: 0.2797, debug_std_frame_3: 0.3318, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4466, loss_rl: -0.2089, loss_critic: 0.9843, loss_rl_bc: 0.0059, il_score: 0.6863, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.1544, grad_norm: 45.5924, il_score_sum: 66.4370, rl_score_sum: 68.0658, score_diff: -1.6288, il_win: 76.0000, rl_win: 392.5000
2025-09-24 16:00:24,607 - mmdet - INFO - Epoch [19][2880/3517]	lr: 7.365e-06, eta: 4:04:05, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1579, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2701, debug_std_frame_3: 0.3169, debug_std_frame_4: 0.3677, debug_std_frame_5: 0.4193, loss_rl: -0.2627, loss_critic: 1.3512, loss_rl_bc: 0.0040, il_score: 0.6639, rl_score: 0.6887, prev_frame_loss_waypoint_0: 0.1578, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.4350, grad_norm: 42.7402, il_score_sum: 66.4370, rl_score_sum: 68.0658, score_diff: -1.6288, il_win: 76.0000, rl_win: 392.5000
2025-09-24 16:00:40,838 - mmdet - INFO - Epoch [19][2900/3517]	lr: 7.365e-06, eta: 4:03:49, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1416, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2695, debug_std_frame_3: 0.3177, debug_std_frame_4: 0.3685, debug_std_frame_5: 0.4220, loss_rl: -0.3116, loss_critic: 1.3152, loss_rl_bc: -0.0017, il_score: 0.6789, rl_score: 0.6710, prev_frame_loss_waypoint_0: 0.1711, prev_frame_loss_rl_bc_0: 0.0518, loss: 1.3931, grad_norm: 40.5338, il_score_sum: 66.4484, rl_score_sum: 68.0549, score_diff: -1.6065, il_win: 76.0000, rl_win: 393.4000
2025-09-24 16:00:56,676 - mmdet - INFO - Epoch [19][2920/3517]	lr: 7.365e-06, eta: 4:03:33, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1627, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3238, debug_std_frame_4: 0.3741, debug_std_frame_5: 0.4278, loss_rl: -0.2533, loss_critic: 1.2578, loss_rl_bc: 0.0038, il_score: 0.6640, rl_score: 0.6976, prev_frame_loss_waypoint_0: 0.1596, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.3584, grad_norm: 42.5308, il_score_sum: 66.4484, rl_score_sum: 68.0549, score_diff: -1.6065, il_win: 76.0000, rl_win: 393.4000
2025-09-24 16:01:12,854 - mmdet - INFO - Epoch [19][2940/3517]	lr: 7.365e-06, eta: 4:03:17, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1639, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2720, debug_std_frame_3: 0.3214, debug_std_frame_4: 0.3709, debug_std_frame_5: 0.4256, loss_rl: -0.2854, loss_critic: 1.4731, loss_rl_bc: 0.0066, il_score: 0.6569, rl_score: 0.7011, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.5668, grad_norm: 43.6887, il_score_sum: 66.4484, rl_score_sum: 68.0549, score_diff: -1.6065, il_win: 76.0000, rl_win: 393.4000
2025-09-24 16:01:28,953 - mmdet - INFO - Epoch [19][2960/3517]	lr: 7.365e-06, eta: 4:03:01, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1656, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3788, debug_std_frame_5: 0.4342, loss_rl: -0.2582, loss_critic: 1.2532, loss_rl_bc: 0.0100, il_score: 0.6917, rl_score: 0.6877, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.3721, grad_norm: 39.9430, il_score_sum: 66.4484, rl_score_sum: 68.0549, score_diff: -1.6065, il_win: 76.0000, rl_win: 393.4000
2025-09-24 16:01:44,899 - mmdet - INFO - Epoch [19][2980/3517]	lr: 7.365e-06, eta: 4:02:45, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1674, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3688, debug_std_frame_5: 0.4215, loss_rl: -0.2914, loss_critic: 1.5667, loss_rl_bc: 0.0057, il_score: 0.6551, rl_score: 0.6844, prev_frame_loss_waypoint_0: 0.1774, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.6558, grad_norm: 43.7374, il_score_sum: 66.4484, rl_score_sum: 68.0549, score_diff: -1.6065, il_win: 76.0000, rl_win: 393.4000
2025-09-24 16:02:01,182 - mmdet - INFO - Epoch [19][3000/3517]	lr: 7.365e-06, eta: 4:02:29, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1855, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2739, debug_std_frame_3: 0.3233, debug_std_frame_4: 0.3721, debug_std_frame_5: 0.4223, loss_rl: -0.2461, loss_critic: 1.3752, loss_rl_bc: 0.0092, il_score: 0.6423, rl_score: 0.6709, prev_frame_loss_waypoint_0: 0.1957, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.5551, grad_norm: 38.0521, il_score_sum: 66.4651, rl_score_sum: 68.1025, score_diff: -1.6374, il_win: 76.0000, rl_win: 394.3000
2025-09-24 16:02:17,479 - mmdet - INFO - Epoch [19][3020/3517]	lr: 7.365e-06, eta: 4:02:13, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1667, debug_std_frame_0: 0.2138, debug_std_frame_1: 0.2333, debug_std_frame_2: 0.2824, debug_std_frame_3: 0.3361, debug_std_frame_4: 0.3911, debug_std_frame_5: 0.4505, loss_rl: -0.2514, loss_critic: 1.1523, loss_rl_bc: 0.0062, il_score: 0.6836, rl_score: 0.6971, prev_frame_loss_waypoint_0: 0.1957, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.3067, grad_norm: 43.3401, il_score_sum: 66.4651, rl_score_sum: 68.1025, score_diff: -1.6374, il_win: 76.0000, rl_win: 394.3000
2025-09-24 16:02:33,708 - mmdet - INFO - Epoch [19][3040/3517]	lr: 7.365e-06, eta: 4:01:57, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1559, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2754, debug_std_frame_3: 0.3266, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4334, loss_rl: -0.2716, loss_critic: 1.4725, loss_rl_bc: 0.0081, il_score: 0.6763, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.5639, grad_norm: 32.8904, il_score_sum: 66.4651, rl_score_sum: 68.1025, score_diff: -1.6374, il_win: 76.0000, rl_win: 394.3000
2025-09-24 16:02:49,878 - mmdet - INFO - Epoch [19][3060/3517]	lr: 7.365e-06, eta: 4:01:41, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1471, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2279, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3753, debug_std_frame_5: 0.4283, loss_rl: -0.2976, loss_critic: 1.3736, loss_rl_bc: -0.0005, il_score: 0.6599, rl_score: 0.6932, prev_frame_loss_waypoint_0: 0.1639, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.4171, grad_norm: 53.8428, il_score_sum: 66.4651, rl_score_sum: 68.1025, score_diff: -1.6374, il_win: 76.0000, rl_win: 394.3000
2025-09-24 16:03:05,898 - mmdet - INFO - Epoch [19][3080/3517]	lr: 7.365e-06, eta: 4:01:25, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1735, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2275, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3367, debug_std_frame_4: 0.3947, debug_std_frame_5: 0.4549, loss_rl: -0.2756, loss_critic: 1.1632, loss_rl_bc: 0.0057, il_score: 0.6692, rl_score: 0.6824, prev_frame_loss_waypoint_0: 0.1930, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.2966, grad_norm: 41.3751, il_score_sum: 66.4651, rl_score_sum: 68.1025, score_diff: -1.6374, il_win: 76.0000, rl_win: 394.3000
2025-09-24 16:03:22,201 - mmdet - INFO - Epoch [19][3100/3517]	lr: 7.365e-06, eta: 4:01:09, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1541, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2304, debug_std_frame_2: 0.2786, debug_std_frame_3: 0.3315, debug_std_frame_4: 0.3882, debug_std_frame_5: 0.4446, loss_rl: -0.2848, loss_critic: 1.2833, loss_rl_bc: 0.0028, il_score: 0.6662, rl_score: 0.6820, prev_frame_loss_waypoint_0: 0.1785, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.3652, grad_norm: 43.3958, il_score_sum: 66.4944, rl_score_sum: 68.1600, score_diff: -1.6656, il_win: 76.0000, rl_win: 395.2500
2025-09-24 16:03:38,208 - mmdet - INFO - Epoch [19][3120/3517]	lr: 7.365e-06, eta: 4:00:53, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1651, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2767, debug_std_frame_3: 0.3287, debug_std_frame_4: 0.3804, debug_std_frame_5: 0.4372, loss_rl: -0.2719, loss_critic: 1.0744, loss_rl_bc: 0.0038, il_score: 0.6785, rl_score: 0.6956, prev_frame_loss_waypoint_0: 0.1725, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.1765, grad_norm: 39.3793, il_score_sum: 66.4944, rl_score_sum: 68.1600, score_diff: -1.6656, il_win: 76.0000, rl_win: 395.2500
2025-09-24 16:03:54,218 - mmdet - INFO - Epoch [19][3140/3517]	lr: 7.365e-06, eta: 4:00:37, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1610, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3769, debug_std_frame_5: 0.4387, loss_rl: -0.2840, loss_critic: 1.1436, loss_rl_bc: 0.0044, il_score: 0.6908, rl_score: 0.7043, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.2468, grad_norm: 31.7629, il_score_sum: 66.4944, rl_score_sum: 68.1600, score_diff: -1.6656, il_win: 76.0000, rl_win: 395.2500
2025-09-24 16:04:10,163 - mmdet - INFO - Epoch [19][3160/3517]	lr: 7.365e-06, eta: 4:00:20, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1826, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3304, debug_std_frame_4: 0.3855, debug_std_frame_5: 0.4446, loss_rl: -0.2425, loss_critic: 1.2087, loss_rl_bc: 0.0146, il_score: 0.6810, rl_score: 0.6913, prev_frame_loss_waypoint_0: 0.1868, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3840, grad_norm: 54.7354, il_score_sum: 66.4944, rl_score_sum: 68.1600, score_diff: -1.6656, il_win: 76.0000, rl_win: 395.2500
2025-09-24 16:04:26,305 - mmdet - INFO - Epoch [19][3180/3517]	lr: 7.365e-06, eta: 4:00:04, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1593, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3229, debug_std_frame_4: 0.3738, debug_std_frame_5: 0.4294, loss_rl: -0.2833, loss_critic: 1.0152, loss_rl_bc: 0.0025, il_score: 0.6671, rl_score: 0.7063, prev_frame_loss_waypoint_0: 0.1753, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.1017, grad_norm: 43.1491, il_score_sum: 66.4944, rl_score_sum: 68.1600, score_diff: -1.6656, il_win: 76.0000, rl_win: 395.2500
2025-09-24 16:04:42,555 - mmdet - INFO - Epoch [19][3200/3517]	lr: 7.365e-06, eta: 3:59:48, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1769, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3872, debug_std_frame_5: 0.4419, loss_rl: -0.2769, loss_critic: 1.2570, loss_rl_bc: 0.0061, il_score: 0.6509, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.1841, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.3818, grad_norm: 35.1689, il_score_sum: 66.5247, rl_score_sum: 68.2441, score_diff: -1.7194, il_win: 76.0000, rl_win: 396.2000
2025-09-24 16:04:58,576 - mmdet - INFO - Epoch [19][3220/3517]	lr: 7.365e-06, eta: 3:59:32, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1777, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2290, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3802, debug_std_frame_5: 0.4404, loss_rl: -0.2787, loss_critic: 1.5125, loss_rl_bc: 0.0113, il_score: 0.6733, rl_score: 0.6822, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.6267, grad_norm: 41.8073, il_score_sum: 66.5247, rl_score_sum: 68.2441, score_diff: -1.7194, il_win: 76.0000, rl_win: 396.2000
2025-09-24 16:05:14,702 - mmdet - INFO - Epoch [19][3240/3517]	lr: 7.365e-06, eta: 3:59:16, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1571, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2737, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3756, debug_std_frame_5: 0.4327, loss_rl: -0.2572, loss_critic: 1.2661, loss_rl_bc: 0.0020, il_score: 0.6858, rl_score: 0.6941, prev_frame_loss_waypoint_0: 0.1832, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.3846, grad_norm: 49.8701, il_score_sum: 66.5247, rl_score_sum: 68.2441, score_diff: -1.7194, il_win: 76.0000, rl_win: 396.2000
2025-09-24 16:05:30,793 - mmdet - INFO - Epoch [19][3260/3517]	lr: 7.365e-06, eta: 3:59:00, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0283, loss_waypoint: 0.1567, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2262, debug_std_frame_2: 0.2718, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3670, debug_std_frame_5: 0.4206, loss_rl: -0.2838, loss_critic: 1.1876, loss_rl_bc: 0.0019, il_score: 0.7092, rl_score: 0.7041, prev_frame_loss_waypoint_0: 0.1689, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.2623, grad_norm: 38.1719, il_score_sum: 66.5247, rl_score_sum: 68.2441, score_diff: -1.7194, il_win: 76.0000, rl_win: 396.2000
2025-09-24 16:05:46,953 - mmdet - INFO - Epoch [19][3280/3517]	lr: 7.365e-06, eta: 3:58:44, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1746, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2766, debug_std_frame_3: 0.3278, debug_std_frame_4: 0.3811, debug_std_frame_5: 0.4390, loss_rl: -0.2714, loss_critic: 1.1305, loss_rl_bc: 0.0064, il_score: 0.6663, rl_score: 0.7039, prev_frame_loss_waypoint_0: 0.1755, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.2476, grad_norm: 43.3286, il_score_sum: 66.5247, rl_score_sum: 68.2441, score_diff: -1.7194, il_win: 76.0000, rl_win: 396.2000
2025-09-24 16:06:03,138 - mmdet - INFO - Epoch [19][3300/3517]	lr: 7.365e-06, eta: 3:58:28, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1551, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2665, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3699, debug_std_frame_5: 0.4320, loss_rl: -0.2480, loss_critic: 1.4974, loss_rl_bc: 0.0053, il_score: 0.6769, rl_score: 0.6868, prev_frame_loss_waypoint_0: 0.1817, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.6257, grad_norm: 40.1339, il_score_sum: 66.6742, rl_score_sum: 68.3593, score_diff: -1.6852, il_win: 76.0000, rl_win: 397.1500
2025-09-24 16:06:19,006 - mmdet - INFO - Epoch [19][3320/3517]	lr: 7.365e-06, eta: 3:58:12, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1748, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3256, debug_std_frame_4: 0.3797, debug_std_frame_5: 0.4379, loss_rl: -0.2364, loss_critic: 1.4872, loss_rl_bc: 0.0103, il_score: 0.6662, rl_score: 0.6682, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0143, loss: 1.6612, grad_norm: 48.6496, il_score_sum: 66.6742, rl_score_sum: 68.3593, score_diff: -1.6852, il_win: 76.0000, rl_win: 397.1500
2025-09-24 16:06:35,146 - mmdet - INFO - Epoch [19][3340/3517]	lr: 7.365e-06, eta: 3:57:56, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1590, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4333, loss_rl: -0.2755, loss_critic: 1.5119, loss_rl_bc: 0.0041, il_score: 0.6545, rl_score: 0.6746, prev_frame_loss_waypoint_0: 0.1614, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.5898, grad_norm: 36.8742, il_score_sum: 66.6742, rl_score_sum: 68.3593, score_diff: -1.6852, il_win: 76.0000, rl_win: 397.1500
2025-09-24 16:06:51,271 - mmdet - INFO - Epoch [19][3360/3517]	lr: 7.365e-06, eta: 3:57:40, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0285, loss_waypoint: 0.1742, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2311, debug_std_frame_2: 0.2833, debug_std_frame_3: 0.3341, debug_std_frame_4: 0.3889, debug_std_frame_5: 0.4434, loss_rl: -0.2595, loss_critic: 1.7137, loss_rl_bc: 0.0273, il_score: 0.6507, rl_score: 0.6500, prev_frame_loss_waypoint_0: 0.1912, prev_frame_loss_rl_bc_0: 0.0300, loss: 1.9053, grad_norm: 45.1105, il_score_sum: 66.6742, rl_score_sum: 68.3593, score_diff: -1.6852, il_win: 76.0000, rl_win: 397.1500
2025-09-24 16:07:07,332 - mmdet - INFO - Epoch [19][3380/3517]	lr: 7.365e-06, eta: 3:57:24, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1748, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2349, debug_std_frame_2: 0.2843, debug_std_frame_3: 0.3352, debug_std_frame_4: 0.3848, debug_std_frame_5: 0.4400, loss_rl: -0.2934, loss_critic: 1.3132, loss_rl_bc: 0.0048, il_score: 0.6752, rl_score: 0.6945, prev_frame_loss_waypoint_0: 0.1696, prev_frame_loss_rl_bc_0: 0.0011, loss: 1.3967, grad_norm: 41.8014, il_score_sum: 66.6742, rl_score_sum: 68.3593, score_diff: -1.6852, il_win: 76.0000, rl_win: 397.1500
2025-09-24 16:07:23,395 - mmdet - INFO - Epoch [19][3400/3517]	lr: 7.365e-06, eta: 3:57:08, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1782, debug_std_frame_0: 0.2134, debug_std_frame_1: 0.2363, debug_std_frame_2: 0.2853, debug_std_frame_3: 0.3362, debug_std_frame_4: 0.3896, debug_std_frame_5: 0.4460, loss_rl: -0.2423, loss_critic: 1.5921, loss_rl_bc: 0.0120, il_score: 0.6416, rl_score: 0.6512, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.7743, grad_norm: 51.1323, il_score_sum: 66.5814, rl_score_sum: 68.2621, score_diff: -1.6807, il_win: 76.0000, rl_win: 398.1000
2025-09-24 16:07:39,355 - mmdet - INFO - Epoch [19][3420/3517]	lr: 7.365e-06, eta: 3:56:52, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1683, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2348, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3366, debug_std_frame_4: 0.3900, debug_std_frame_5: 0.4479, loss_rl: -0.2773, loss_critic: 1.2200, loss_rl_bc: 0.0042, il_score: 0.6683, rl_score: 0.6909, prev_frame_loss_waypoint_0: 0.1816, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3283, grad_norm: 47.0981, il_score_sum: 66.5814, rl_score_sum: 68.2621, score_diff: -1.6807, il_win: 76.0000, rl_win: 398.1000
2025-09-24 16:07:55,431 - mmdet - INFO - Epoch [19][3440/3517]	lr: 7.365e-06, eta: 3:56:35, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1507, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2311, debug_std_frame_2: 0.2843, debug_std_frame_3: 0.3370, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4479, loss_rl: -0.2561, loss_critic: 1.3583, loss_rl_bc: 0.0011, il_score: 0.6660, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.4552, grad_norm: 57.9672, il_score_sum: 66.5814, rl_score_sum: 68.2621, score_diff: -1.6807, il_win: 76.0000, rl_win: 398.1000
2025-09-24 16:08:11,431 - mmdet - INFO - Epoch [19][3460/3517]	lr: 7.365e-06, eta: 3:56:19, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1618, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2803, debug_std_frame_3: 0.3334, debug_std_frame_4: 0.3846, debug_std_frame_5: 0.4420, loss_rl: -0.2451, loss_critic: 1.3019, loss_rl_bc: 0.0054, il_score: 0.6655, rl_score: 0.6884, prev_frame_loss_waypoint_0: 0.1711, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.4254, grad_norm: 52.4003, il_score_sum: 66.5814, rl_score_sum: 68.2621, score_diff: -1.6807, il_win: 76.0000, rl_win: 398.1000
2025-09-24 16:08:27,569 - mmdet - INFO - Epoch [19][3480/3517]	lr: 7.365e-06, eta: 3:56:03, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1509, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2651, debug_std_frame_3: 0.3112, debug_std_frame_4: 0.3590, debug_std_frame_5: 0.4116, loss_rl: -0.2544, loss_critic: 1.4979, loss_rl_bc: 0.0037, il_score: 0.6400, rl_score: 0.6524, prev_frame_loss_waypoint_0: 0.1676, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5954, grad_norm: 48.3082, il_score_sum: 66.5814, rl_score_sum: 68.2621, score_diff: -1.6807, il_win: 76.0000, rl_win: 398.1000
2025-09-24 16:08:43,820 - mmdet - INFO - Epoch [19][3500/3517]	lr: 7.365e-06, eta: 3:55:47, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1597, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3305, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4414, loss_rl: -0.2067, loss_critic: 1.7697, loss_rl_bc: 0.0094, il_score: 0.6352, rl_score: 0.6379, prev_frame_loss_waypoint_0: 0.1873, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.9561, grad_norm: 51.0661, il_score_sum: 66.5362, rl_score_sum: 68.2085, score_diff: -1.6723, il_win: 76.0000, rl_win: 399.0500
2025-09-24 16:08:56,886 - mmdet - INFO - Saving checkpoint at 19 epochs
2025-09-24 16:11:29,894 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 16:11:29,894 - mmdet - INFO - Epoch(val) [19][753]	plan_L2_1s: 0.3876, plan_L2_2s: 0.7096, plan_L2_3s: 1.1255, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0009, plan_obj_box_col_2s: 0.0015, plan_obj_box_col_3s: 0.0053, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.5047, plan_L2_2s_rl_actor: 0.8812, plan_L2_3s_rl_actor: 1.3321, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0092, plan_obj_box_col_2s_rl_actor: 0.0096, plan_obj_box_col_3s_rl_actor: 0.0138, fut_valid_flag_rl_actor: 1.0000
2025-09-24 16:11:54,095 - mmdet - INFO - Epoch [20][20/3517]	lr: 5.211e-06, eta: 3:55:16, time: 1.209, data_time: 0.343, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1608, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3180, debug_std_frame_4: 0.3685, debug_std_frame_5: 0.4234, loss_rl: -0.2448, loss_critic: 1.4747, loss_rl_bc: 0.0050, il_score: 0.6310, rl_score: 0.6516, prev_frame_loss_waypoint_0: 0.1766, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.6061, grad_norm: 50.7976
2025-09-24 16:12:10,793 - mmdet - INFO - Epoch [20][40/3517]	lr: 5.211e-06, eta: 3:55:00, time: 0.835, data_time: 0.014, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1741, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2281, debug_std_frame_2: 0.2763, debug_std_frame_3: 0.3256, debug_std_frame_4: 0.3787, debug_std_frame_5: 0.4374, loss_rl: -0.2375, loss_critic: 1.3884, loss_rl_bc: 0.0130, il_score: 0.6444, rl_score: 0.6670, prev_frame_loss_waypoint_0: 0.1783, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.5481, grad_norm: 53.0317
2025-09-24 16:12:27,780 - mmdet - INFO - Epoch [20][60/3517]	lr: 5.211e-06, eta: 3:54:44, time: 0.848, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1718, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2349, debug_std_frame_2: 0.2850, debug_std_frame_3: 0.3386, debug_std_frame_4: 0.3909, debug_std_frame_5: 0.4481, loss_rl: -0.2382, loss_critic: 1.4057, loss_rl_bc: 0.0068, il_score: 0.6601, rl_score: 0.6659, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.5505, grad_norm: 43.4503
2025-09-24 16:12:44,424 - mmdet - INFO - Epoch [20][80/3517]	lr: 5.211e-06, eta: 3:54:28, time: 0.834, data_time: 0.014, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1831, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2322, debug_std_frame_2: 0.2834, debug_std_frame_3: 0.3391, debug_std_frame_4: 0.3956, debug_std_frame_5: 0.4558, loss_rl: -0.2232, loss_critic: 1.2043, loss_rl_bc: 0.0121, il_score: 0.6559, rl_score: 0.6591, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0096, loss: 1.4021, grad_norm: 54.0913, il_score_sum: 64.7673, rl_score_sum: 65.8729, score_diff: -1.1056, il_win: 76.0000, rl_win: 409.0000
2025-09-24 16:13:00,797 - mmdet - INFO - Epoch [20][100/3517]	lr: 5.211e-06, eta: 3:54:12, time: 0.819, data_time: 0.015, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1669, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2327, debug_std_frame_2: 0.2790, debug_std_frame_3: 0.3303, debug_std_frame_4: 0.3833, debug_std_frame_5: 0.4370, loss_rl: -0.2846, loss_critic: 1.2615, loss_rl_bc: 0.0057, il_score: 0.6962, rl_score: 0.7000, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.3718, grad_norm: 44.3895, il_score_sum: 64.7673, rl_score_sum: 65.8729, score_diff: -1.1056, il_win: 76.0000, rl_win: 409.0000
2025-09-24 16:13:17,106 - mmdet - INFO - Epoch [20][120/3517]	lr: 5.211e-06, eta: 3:53:56, time: 0.816, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1806, debug_std_frame_0: 0.2133, debug_std_frame_1: 0.2360, debug_std_frame_2: 0.2847, debug_std_frame_3: 0.3347, debug_std_frame_4: 0.3857, debug_std_frame_5: 0.4392, loss_rl: -0.2597, loss_critic: 1.2046, loss_rl_bc: 0.0062, il_score: 0.6690, rl_score: 0.6965, prev_frame_loss_waypoint_0: 0.1928, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.3618, grad_norm: 46.2202, il_score_sum: 64.7673, rl_score_sum: 65.8729, score_diff: -1.1056, il_win: 76.0000, rl_win: 409.0000
2025-09-24 16:13:33,493 - mmdet - INFO - Epoch [20][140/3517]	lr: 5.211e-06, eta: 3:53:40, time: 0.819, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1653, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2327, debug_std_frame_2: 0.2805, debug_std_frame_3: 0.3301, debug_std_frame_4: 0.3817, debug_std_frame_5: 0.4360, loss_rl: -0.2472, loss_critic: 1.4856, loss_rl_bc: 0.0071, il_score: 0.6513, rl_score: 0.6681, prev_frame_loss_waypoint_0: 0.1773, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.6221, grad_norm: 46.7229, il_score_sum: 64.7673, rl_score_sum: 65.8729, score_diff: -1.1056, il_win: 76.0000, rl_win: 409.0000
2025-09-24 16:13:50,045 - mmdet - INFO - Epoch [20][160/3517]	lr: 5.211e-06, eta: 3:53:24, time: 0.827, data_time: 0.014, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1625, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2306, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3236, debug_std_frame_4: 0.3752, debug_std_frame_5: 0.4287, loss_rl: -0.2747, loss_critic: 1.2192, loss_rl_bc: 0.0047, il_score: 0.6916, rl_score: 0.6961, prev_frame_loss_waypoint_0: 0.1706, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.3133, grad_norm: 45.0693, il_score_sum: 64.7673, rl_score_sum: 65.8729, score_diff: -1.1056, il_win: 76.0000, rl_win: 409.0000
2025-09-24 16:14:06,683 - mmdet - INFO - Epoch [20][180/3517]	lr: 5.211e-06, eta: 3:53:09, time: 0.832, data_time: 0.015, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1447, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3628, debug_std_frame_5: 0.4136, loss_rl: -0.2936, loss_critic: 1.2976, loss_rl_bc: -0.0006, il_score: 0.6828, rl_score: 0.7001, prev_frame_loss_waypoint_0: 0.1635, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3406, grad_norm: 42.5666, il_score_sum: 66.2647, rl_score_sum: 67.5041, score_diff: -1.2394, il_win: 76.0000, rl_win: 409.5000
2025-09-24 16:14:23,023 - mmdet - INFO - Epoch [20][200/3517]	lr: 5.211e-06, eta: 3:52:53, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1648, debug_std_frame_0: 0.2141, debug_std_frame_1: 0.2341, debug_std_frame_2: 0.2800, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3791, debug_std_frame_5: 0.4320, loss_rl: -0.2593, loss_critic: 1.5518, loss_rl_bc: 0.0058, il_score: 0.6551, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0152, loss: 1.6937, grad_norm: 43.5376, il_score_sum: 66.2647, rl_score_sum: 67.5041, score_diff: -1.2394, il_win: 76.0000, rl_win: 409.5000
2025-09-24 16:14:39,454 - mmdet - INFO - Epoch [20][220/3517]	lr: 5.211e-06, eta: 3:52:37, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1482, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2678, debug_std_frame_3: 0.3129, debug_std_frame_4: 0.3603, debug_std_frame_5: 0.4113, loss_rl: -0.3050, loss_critic: 1.3328, loss_rl_bc: 0.0006, il_score: 0.6919, rl_score: 0.7179, prev_frame_loss_waypoint_0: 0.1634, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3686, grad_norm: 43.9787, il_score_sum: 66.2647, rl_score_sum: 67.5041, score_diff: -1.2394, il_win: 76.0000, rl_win: 409.5000
2025-09-24 16:14:55,775 - mmdet - INFO - Epoch [20][240/3517]	lr: 5.211e-06, eta: 3:52:21, time: 0.816, data_time: 0.014, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1476, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3129, debug_std_frame_4: 0.3621, debug_std_frame_5: 0.4160, loss_rl: -0.2614, loss_critic: 1.5060, loss_rl_bc: 0.0024, il_score: 0.6746, rl_score: 0.7096, prev_frame_loss_waypoint_0: 0.1604, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.5883, grad_norm: 46.8275, il_score_sum: 66.2647, rl_score_sum: 67.5041, score_diff: -1.2394, il_win: 76.0000, rl_win: 409.5000
2025-09-24 16:15:12,140 - mmdet - INFO - Epoch [20][260/3517]	lr: 5.211e-06, eta: 3:52:05, time: 0.818, data_time: 0.014, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1659, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4315, loss_rl: -0.2572, loss_critic: 0.9751, loss_rl_bc: 0.0062, il_score: 0.6754, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1757, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.1011, grad_norm: 34.6435, il_score_sum: 66.2647, rl_score_sum: 67.5041, score_diff: -1.2394, il_win: 76.0000, rl_win: 409.5000
2025-09-24 16:15:28,677 - mmdet - INFO - Epoch [20][280/3517]	lr: 5.211e-06, eta: 3:51:49, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1541, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3198, debug_std_frame_4: 0.3714, debug_std_frame_5: 0.4276, loss_rl: -0.2793, loss_critic: 1.1118, loss_rl_bc: -0.0002, il_score: 0.6900, rl_score: 0.7166, prev_frame_loss_waypoint_0: 0.1764, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.1943, grad_norm: 37.0467, il_score_sum: 66.7879, rl_score_sum: 68.2551, score_diff: -1.4671, il_win: 76.0000, rl_win: 410.0000
2025-09-24 16:15:45,018 - mmdet - INFO - Epoch [20][300/3517]	lr: 5.211e-06, eta: 3:51:33, time: 0.817, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1772, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2359, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3339, debug_std_frame_4: 0.3878, debug_std_frame_5: 0.4445, loss_rl: -0.2863, loss_critic: 1.2304, loss_rl_bc: 0.0074, il_score: 0.6663, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1820, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.3435, grad_norm: 45.3923, il_score_sum: 66.7879, rl_score_sum: 68.2551, score_diff: -1.4671, il_win: 76.0000, rl_win: 410.0000
2025-09-24 16:16:01,187 - mmdet - INFO - Epoch [20][320/3517]	lr: 5.211e-06, eta: 3:51:17, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1680, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2301, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3753, debug_std_frame_5: 0.4315, loss_rl: -0.2507, loss_critic: 1.3216, loss_rl_bc: 0.0046, il_score: 0.6583, rl_score: 0.7002, prev_frame_loss_waypoint_0: 0.1753, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4524, grad_norm: 37.2293, il_score_sum: 66.7879, rl_score_sum: 68.2551, score_diff: -1.4671, il_win: 76.0000, rl_win: 410.0000
2025-09-24 16:16:17,386 - mmdet - INFO - Epoch [20][340/3517]	lr: 5.211e-06, eta: 3:51:00, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1509, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2270, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3198, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4181, loss_rl: -0.2798, loss_critic: 1.3457, loss_rl_bc: 0.0005, il_score: 0.6600, rl_score: 0.6563, prev_frame_loss_waypoint_0: 0.1609, prev_frame_loss_rl_bc_0: -0.0001, loss: 1.4042, grad_norm: 44.4855, il_score_sum: 66.7879, rl_score_sum: 68.2551, score_diff: -1.4671, il_win: 76.0000, rl_win: 410.0000
2025-09-24 16:16:33,842 - mmdet - INFO - Epoch [20][360/3517]	lr: 5.211e-06, eta: 3:50:45, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1366, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3159, debug_std_frame_4: 0.3632, debug_std_frame_5: 0.4140, loss_rl: -0.3308, loss_critic: 1.2955, loss_rl_bc: -0.0013, il_score: 0.6884, rl_score: 0.6938, prev_frame_loss_waypoint_0: 0.1571, prev_frame_loss_rl_bc_0: 0.0013, loss: 1.2849, grad_norm: 41.3006, il_score_sum: 66.7879, rl_score_sum: 68.2551, score_diff: -1.4671, il_win: 76.0000, rl_win: 410.0000
2025-09-24 16:16:50,356 - mmdet - INFO - Epoch [20][380/3517]	lr: 5.211e-06, eta: 3:50:29, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1704, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2674, debug_std_frame_3: 0.3151, debug_std_frame_4: 0.3633, debug_std_frame_5: 0.4148, loss_rl: -0.2910, loss_critic: 1.3681, loss_rl_bc: 0.0065, il_score: 0.6848, rl_score: 0.6934, prev_frame_loss_waypoint_0: 0.1633, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.4445, grad_norm: 35.4597, il_score_sum: 66.9261, rl_score_sum: 68.3880, score_diff: -1.4619, il_win: 76.0000, rl_win: 410.5000
2025-09-24 16:17:06,278 - mmdet - INFO - Epoch [20][400/3517]	lr: 5.211e-06, eta: 3:50:12, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1768, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3170, debug_std_frame_4: 0.3670, debug_std_frame_5: 0.4197, loss_rl: -0.2451, loss_critic: 1.2384, loss_rl_bc: 0.0120, il_score: 0.6456, rl_score: 0.6654, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3964, grad_norm: 47.7052, il_score_sum: 66.9261, rl_score_sum: 68.3880, score_diff: -1.4619, il_win: 76.0000, rl_win: 410.5000
2025-09-24 16:17:22,440 - mmdet - INFO - Epoch [20][420/3517]	lr: 5.211e-06, eta: 3:49:56, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1619, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2255, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3205, debug_std_frame_4: 0.3729, debug_std_frame_5: 0.4266, loss_rl: -0.2678, loss_critic: 1.4941, loss_rl_bc: 0.0058, il_score: 0.6813, rl_score: 0.6932, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.6163, grad_norm: 53.7796, il_score_sum: 66.9261, rl_score_sum: 68.3880, score_diff: -1.4619, il_win: 76.0000, rl_win: 410.5000
2025-09-24 16:17:38,629 - mmdet - INFO - Epoch [20][440/3517]	lr: 5.211e-06, eta: 3:49:40, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1542, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2774, debug_std_frame_3: 0.3281, debug_std_frame_4: 0.3798, debug_std_frame_5: 0.4370, loss_rl: -0.3008, loss_critic: 1.7265, loss_rl_bc: 0.0082, il_score: 0.6252, rl_score: 0.6696, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.8027, grad_norm: 44.9340, il_score_sum: 66.9261, rl_score_sum: 68.3880, score_diff: -1.4619, il_win: 76.0000, rl_win: 410.5000
2025-09-24 16:17:54,705 - mmdet - INFO - Epoch [20][460/3517]	lr: 5.211e-06, eta: 3:49:24, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1730, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2282, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3271, debug_std_frame_4: 0.3785, debug_std_frame_5: 0.4355, loss_rl: -0.2422, loss_critic: 1.3268, loss_rl_bc: 0.0086, il_score: 0.6390, rl_score: 0.6820, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4742, grad_norm: 43.9104, il_score_sum: 66.9261, rl_score_sum: 68.3880, score_diff: -1.4619, il_win: 76.0000, rl_win: 410.5000
2025-09-24 16:18:10,965 - mmdet - INFO - Epoch [20][480/3517]	lr: 5.211e-06, eta: 3:49:08, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1569, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3272, debug_std_frame_4: 0.3779, debug_std_frame_5: 0.4299, loss_rl: -0.2586, loss_critic: 1.3551, loss_rl_bc: 0.0047, il_score: 0.6895, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1674, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.4583, grad_norm: 38.9466, il_score_sum: 66.6312, rl_score_sum: 68.3134, score_diff: -1.6822, il_win: 76.0000, rl_win: 411.0000
2025-09-24 16:18:26,893 - mmdet - INFO - Epoch [20][500/3517]	lr: 5.211e-06, eta: 3:48:52, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1580, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2311, debug_std_frame_2: 0.2780, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4295, loss_rl: -0.3314, loss_critic: 1.1490, loss_rl_bc: 0.0029, il_score: 0.6985, rl_score: 0.7126, prev_frame_loss_waypoint_0: 0.1741, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.1863, grad_norm: 43.7477, il_score_sum: 66.6312, rl_score_sum: 68.3134, score_diff: -1.6822, il_win: 76.0000, rl_win: 411.0000
2025-09-24 16:18:43,012 - mmdet - INFO - Epoch [20][520/3517]	lr: 5.211e-06, eta: 3:48:36, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1520, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3757, debug_std_frame_5: 0.4284, loss_rl: -0.2498, loss_critic: 1.4667, loss_rl_bc: 0.0034, il_score: 0.6581, rl_score: 0.6878, prev_frame_loss_waypoint_0: 0.1787, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.5818, grad_norm: 38.9851, il_score_sum: 66.6312, rl_score_sum: 68.3134, score_diff: -1.6822, il_win: 76.0000, rl_win: 411.0000
2025-09-24 16:18:59,116 - mmdet - INFO - Epoch [20][540/3517]	lr: 5.211e-06, eta: 3:48:20, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1784, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2251, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3217, debug_std_frame_4: 0.3704, debug_std_frame_5: 0.4241, loss_rl: -0.2376, loss_critic: 1.5317, loss_rl_bc: 0.0064, il_score: 0.6522, rl_score: 0.6893, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.6785, grad_norm: 45.3689, il_score_sum: 66.6312, rl_score_sum: 68.3134, score_diff: -1.6822, il_win: 76.0000, rl_win: 411.0000
2025-09-24 16:19:15,180 - mmdet - INFO - Epoch [20][560/3517]	lr: 5.211e-06, eta: 3:48:04, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1527, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2297, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3270, debug_std_frame_4: 0.3789, debug_std_frame_5: 0.4336, loss_rl: -0.2746, loss_critic: 1.6789, loss_rl_bc: 0.0063, il_score: 0.6713, rl_score: 0.6709, prev_frame_loss_waypoint_0: 0.1838, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.7822, grad_norm: 43.8842, il_score_sum: 66.6312, rl_score_sum: 68.3134, score_diff: -1.6822, il_win: 76.0000, rl_win: 411.0000
2025-09-24 16:19:31,558 - mmdet - INFO - Epoch [20][580/3517]	lr: 5.211e-06, eta: 3:47:48, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1833, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4456, loss_rl: -0.2512, loss_critic: 1.1494, loss_rl_bc: 0.0088, il_score: 0.6413, rl_score: 0.6751, prev_frame_loss_waypoint_0: 0.1838, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.3112, grad_norm: 43.0066, il_score_sum: 66.6335, rl_score_sum: 68.4108, score_diff: -1.7773, il_win: 76.0000, rl_win: 411.5000
2025-09-24 16:19:47,723 - mmdet - INFO - Epoch [20][600/3517]	lr: 5.211e-06, eta: 3:47:32, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1672, debug_std_frame_0: 0.2119, debug_std_frame_1: 0.2335, debug_std_frame_2: 0.2840, debug_std_frame_3: 0.3363, debug_std_frame_4: 0.3921, debug_std_frame_5: 0.4492, loss_rl: -0.2664, loss_critic: 1.3200, loss_rl_bc: 0.0097, il_score: 0.6958, rl_score: 0.7109, prev_frame_loss_waypoint_0: 0.1804, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.4452, grad_norm: 45.8127, il_score_sum: 66.6335, rl_score_sum: 68.4108, score_diff: -1.7773, il_win: 76.0000, rl_win: 411.5000
2025-09-24 16:20:03,803 - mmdet - INFO - Epoch [20][620/3517]	lr: 5.211e-06, eta: 3:47:16, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0282, loss_waypoint: 0.1633, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2332, debug_std_frame_2: 0.2844, debug_std_frame_3: 0.3389, debug_std_frame_4: 0.3957, debug_std_frame_5: 0.4547, loss_rl: -0.2236, loss_critic: 1.6138, loss_rl_bc: 0.0053, il_score: 0.6344, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.1749, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.7668, grad_norm: 55.9907, il_score_sum: 66.6335, rl_score_sum: 68.4108, score_diff: -1.7773, il_win: 76.0000, rl_win: 411.5000
2025-09-24 16:20:19,954 - mmdet - INFO - Epoch [20][640/3517]	lr: 5.211e-06, eta: 3:47:00, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1720, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2328, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3896, debug_std_frame_5: 0.4466, loss_rl: -0.2660, loss_critic: 1.2861, loss_rl_bc: 0.0045, il_score: 0.6747, rl_score: 0.6948, prev_frame_loss_waypoint_0: 0.1732, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.4010, grad_norm: 51.0451, il_score_sum: 66.6335, rl_score_sum: 68.4108, score_diff: -1.7773, il_win: 76.0000, rl_win: 411.5000
2025-09-24 16:20:36,053 - mmdet - INFO - Epoch [20][660/3517]	lr: 5.211e-06, eta: 3:46:44, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1603, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4356, loss_rl: -0.2445, loss_critic: 1.3116, loss_rl_bc: 0.0034, il_score: 0.6972, rl_score: 0.7000, prev_frame_loss_waypoint_0: 0.1643, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.4244, grad_norm: 44.2799, il_score_sum: 66.6335, rl_score_sum: 68.4108, score_diff: -1.7773, il_win: 76.0000, rl_win: 411.5000
2025-09-24 16:20:52,615 - mmdet - INFO - Epoch [20][680/3517]	lr: 5.211e-06, eta: 3:46:28, time: 0.828, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1548, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4313, loss_rl: -0.2818, loss_critic: 1.2219, loss_rl_bc: 0.0018, il_score: 0.6958, rl_score: 0.7138, prev_frame_loss_waypoint_0: 0.1603, prev_frame_loss_rl_bc_0: 0.0016, loss: 1.2853, grad_norm: 44.7810, il_score_sum: 66.7890, rl_score_sum: 68.5589, score_diff: -1.7699, il_win: 76.0000, rl_win: 412.0000
2025-09-24 16:21:08,612 - mmdet - INFO - Epoch [20][700/3517]	lr: 5.211e-06, eta: 3:46:12, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1709, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2783, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3839, debug_std_frame_5: 0.4399, loss_rl: -0.2631, loss_critic: 1.1300, loss_rl_bc: 0.0039, il_score: 0.6802, rl_score: 0.7026, prev_frame_loss_waypoint_0: 0.1870, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.2615, grad_norm: 44.3324, il_score_sum: 66.7890, rl_score_sum: 68.5589, score_diff: -1.7699, il_win: 76.0000, rl_win: 412.0000
2025-09-24 16:21:24,605 - mmdet - INFO - Epoch [20][720/3517]	lr: 5.211e-06, eta: 3:45:56, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1640, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2656, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4249, loss_rl: -0.2769, loss_critic: 1.4490, loss_rl_bc: 0.0037, il_score: 0.6746, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.5452, grad_norm: 40.9791, il_score_sum: 66.7890, rl_score_sum: 68.5589, score_diff: -1.7699, il_win: 76.0000, rl_win: 412.0000
2025-09-24 16:21:40,745 - mmdet - INFO - Epoch [20][740/3517]	lr: 5.211e-06, eta: 3:45:39, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1706, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3184, debug_std_frame_4: 0.3686, debug_std_frame_5: 0.4263, loss_rl: -0.2488, loss_critic: 1.5531, loss_rl_bc: 0.0089, il_score: 0.6295, rl_score: 0.6442, prev_frame_loss_waypoint_0: 0.1607, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.6751, grad_norm: 39.7952, il_score_sum: 66.7890, rl_score_sum: 68.5589, score_diff: -1.7699, il_win: 76.0000, rl_win: 412.0000
2025-09-24 16:21:56,857 - mmdet - INFO - Epoch [20][760/3517]	lr: 5.211e-06, eta: 3:45:23, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1813, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2816, debug_std_frame_3: 0.3348, debug_std_frame_4: 0.3869, debug_std_frame_5: 0.4445, loss_rl: -0.2768, loss_critic: 1.2025, loss_rl_bc: 0.0076, il_score: 0.6701, rl_score: 0.6908, prev_frame_loss_waypoint_0: 0.1854, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.3343, grad_norm: 37.1854, il_score_sum: 66.7890, rl_score_sum: 68.5589, score_diff: -1.7699, il_win: 76.0000, rl_win: 412.0000
2025-09-24 16:22:13,273 - mmdet - INFO - Epoch [20][780/3517]	lr: 5.211e-06, eta: 3:45:07, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1525, debug_std_frame_0: 0.2126, debug_std_frame_1: 0.2321, debug_std_frame_2: 0.2787, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3857, debug_std_frame_5: 0.4426, loss_rl: -0.2573, loss_critic: 1.2690, loss_rl_bc: 0.0023, il_score: 0.6762, rl_score: 0.6773, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3704, grad_norm: 36.0238, il_score_sum: 66.7567, rl_score_sum: 68.5275, score_diff: -1.7708, il_win: 76.0000, rl_win: 412.5000
2025-09-24 16:22:29,269 - mmdet - INFO - Epoch [20][800/3517]	lr: 5.211e-06, eta: 3:44:51, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1690, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2746, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3686, debug_std_frame_5: 0.4220, loss_rl: -0.2827, loss_critic: 1.3379, loss_rl_bc: 0.0045, il_score: 0.6665, rl_score: 0.6848, prev_frame_loss_waypoint_0: 0.1518, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.4095, grad_norm: 40.8553, il_score_sum: 66.7567, rl_score_sum: 68.5275, score_diff: -1.7708, il_win: 76.0000, rl_win: 412.5000
2025-09-24 16:22:45,414 - mmdet - INFO - Epoch [20][820/3517]	lr: 5.211e-06, eta: 3:44:35, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1594, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3210, debug_std_frame_4: 0.3709, debug_std_frame_5: 0.4276, loss_rl: -0.2879, loss_critic: 1.2386, loss_rl_bc: 0.0028, il_score: 0.6660, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.3294, grad_norm: 55.3856, il_score_sum: 66.7567, rl_score_sum: 68.5275, score_diff: -1.7708, il_win: 76.0000, rl_win: 412.5000
2025-09-24 16:23:01,661 - mmdet - INFO - Epoch [20][840/3517]	lr: 5.211e-06, eta: 3:44:19, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1782, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3657, debug_std_frame_5: 0.4173, loss_rl: -0.2573, loss_critic: 1.5339, loss_rl_bc: 0.0098, il_score: 0.6447, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.1998, prev_frame_loss_rl_bc_0: 0.0142, loss: 1.7065, grad_norm: 41.8717, il_score_sum: 66.7567, rl_score_sum: 68.5275, score_diff: -1.7708, il_win: 76.0000, rl_win: 412.5000
2025-09-24 16:23:17,607 - mmdet - INFO - Epoch [20][860/3517]	lr: 5.211e-06, eta: 3:44:03, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1580, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2698, debug_std_frame_3: 0.3164, debug_std_frame_4: 0.3673, debug_std_frame_5: 0.4199, loss_rl: -0.2926, loss_critic: 1.2527, loss_rl_bc: 0.0015, il_score: 0.7184, rl_score: 0.7219, prev_frame_loss_waypoint_0: 0.1665, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.3152, grad_norm: 37.0528, il_score_sum: 66.7567, rl_score_sum: 68.5275, score_diff: -1.7708, il_win: 76.0000, rl_win: 412.5000
2025-09-24 16:23:33,910 - mmdet - INFO - Epoch [20][880/3517]	lr: 5.211e-06, eta: 3:43:47, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1582, debug_std_frame_0: 0.2124, debug_std_frame_1: 0.2329, debug_std_frame_2: 0.2789, debug_std_frame_3: 0.3283, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4339, loss_rl: -0.2482, loss_critic: 1.3297, loss_rl_bc: 0.0056, il_score: 0.6505, rl_score: 0.6810, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.4632, grad_norm: 48.4406, il_score_sum: 66.7842, rl_score_sum: 68.5373, score_diff: -1.7531, il_win: 76.0000, rl_win: 413.0000
2025-09-24 16:23:49,847 - mmdet - INFO - Epoch [20][900/3517]	lr: 5.211e-06, eta: 3:43:31, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1567, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3695, debug_std_frame_5: 0.4242, loss_rl: -0.3079, loss_critic: 1.1279, loss_rl_bc: 0.0029, il_score: 0.6712, rl_score: 0.6891, prev_frame_loss_waypoint_0: 0.1622, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.1722, grad_norm: 43.3365, il_score_sum: 66.7842, rl_score_sum: 68.5373, score_diff: -1.7531, il_win: 76.0000, rl_win: 413.0000
2025-09-24 16:24:06,049 - mmdet - INFO - Epoch [20][920/3517]	lr: 5.211e-06, eta: 3:43:15, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1676, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2795, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3823, debug_std_frame_5: 0.4395, loss_rl: -0.2630, loss_critic: 1.2730, loss_rl_bc: 0.0033, il_score: 0.6656, rl_score: 0.6770, prev_frame_loss_waypoint_0: 0.1725, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.3835, grad_norm: 58.7620, il_score_sum: 66.7842, rl_score_sum: 68.5373, score_diff: -1.7531, il_win: 76.0000, rl_win: 413.0000
2025-09-24 16:24:22,062 - mmdet - INFO - Epoch [20][940/3517]	lr: 5.211e-06, eta: 3:42:59, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1629, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3800, debug_std_frame_5: 0.4376, loss_rl: -0.2748, loss_critic: 1.1764, loss_rl_bc: 0.0062, il_score: 0.6950, rl_score: 0.6829, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.2847, grad_norm: 38.0763, il_score_sum: 66.7842, rl_score_sum: 68.5373, score_diff: -1.7531, il_win: 76.0000, rl_win: 413.0000
2025-09-24 16:24:37,907 - mmdet - INFO - Epoch [20][960/3517]	lr: 5.211e-06, eta: 3:42:43, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1535, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3721, debug_std_frame_5: 0.4268, loss_rl: -0.2700, loss_critic: 1.4499, loss_rl_bc: 0.0050, il_score: 0.6521, rl_score: 0.6724, prev_frame_loss_waypoint_0: 0.1637, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.5323, grad_norm: 38.6644, il_score_sum: 66.7842, rl_score_sum: 68.5373, score_diff: -1.7531, il_win: 76.0000, rl_win: 413.0000
2025-09-24 16:24:54,022 - mmdet - INFO - Epoch [20][980/3517]	lr: 5.211e-06, eta: 3:42:27, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1476, debug_std_frame_0: 0.2031, debug_std_frame_1: 0.2153, debug_std_frame_2: 0.2579, debug_std_frame_3: 0.3076, debug_std_frame_4: 0.3557, debug_std_frame_5: 0.4108, loss_rl: -0.2900, loss_critic: 1.3101, loss_rl_bc: 0.0013, il_score: 0.6898, rl_score: 0.7146, prev_frame_loss_waypoint_0: 0.1544, prev_frame_loss_rl_bc_0: -0.0001, loss: 1.3505, grad_norm: 34.3510, il_score_sum: 66.8326, rl_score_sum: 68.5415, score_diff: -1.7089, il_win: 76.0000, rl_win: 413.5000
2025-09-24 16:25:09,853 - mmdet - INFO - Epoch [20][1000/3517]	lr: 5.211e-06, eta: 3:42:10, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1528, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2174, debug_std_frame_2: 0.2633, debug_std_frame_3: 0.3105, debug_std_frame_4: 0.3593, debug_std_frame_5: 0.4127, loss_rl: -0.2751, loss_critic: 1.2482, loss_rl_bc: 0.0037, il_score: 0.6931, rl_score: 0.7002, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.3276, grad_norm: 31.7108, il_score_sum: 66.8326, rl_score_sum: 68.5415, score_diff: -1.7089, il_win: 76.0000, rl_win: 413.5000
2025-09-24 16:25:25,888 - mmdet - INFO - Epoch [20][1020/3517]	lr: 5.211e-06, eta: 3:41:54, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1440, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2665, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3690, debug_std_frame_5: 0.4257, loss_rl: -0.2685, loss_critic: 1.2980, loss_rl_bc: -0.0000, il_score: 0.6654, rl_score: 0.6633, prev_frame_loss_waypoint_0: 0.1818, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.3891, grad_norm: 30.3180, il_score_sum: 66.8326, rl_score_sum: 68.5415, score_diff: -1.7089, il_win: 76.0000, rl_win: 413.5000
2025-09-24 16:25:41,816 - mmdet - INFO - Epoch [20][1040/3517]	lr: 5.211e-06, eta: 3:41:38, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1711, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3731, debug_std_frame_5: 0.4285, loss_rl: -0.2382, loss_critic: 1.2595, loss_rl_bc: 0.0073, il_score: 0.6617, rl_score: 0.6776, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.4128, grad_norm: 43.7892, il_score_sum: 66.8326, rl_score_sum: 68.5415, score_diff: -1.7089, il_win: 76.0000, rl_win: 413.5000
2025-09-24 16:25:57,892 - mmdet - INFO - Epoch [20][1060/3517]	lr: 5.211e-06, eta: 3:41:22, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1407, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2646, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3622, debug_std_frame_5: 0.4174, loss_rl: -0.2911, loss_critic: 1.1934, loss_rl_bc: -0.0009, il_score: 0.7236, rl_score: 0.7152, prev_frame_loss_waypoint_0: 0.1684, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.2398, grad_norm: 37.6198, il_score_sum: 66.8326, rl_score_sum: 68.5415, score_diff: -1.7089, il_win: 76.0000, rl_win: 413.5000
2025-09-24 16:26:14,106 - mmdet - INFO - Epoch [20][1080/3517]	lr: 5.211e-06, eta: 3:41:06, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1632, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3632, debug_std_frame_5: 0.4173, loss_rl: -0.2425, loss_critic: 1.2530, loss_rl_bc: 0.0067, il_score: 0.6821, rl_score: 0.6913, prev_frame_loss_waypoint_0: 0.1890, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.4074, grad_norm: 34.3092, il_score_sum: 67.0282, rl_score_sum: 68.6335, score_diff: -1.6052, il_win: 76.0000, rl_win: 413.9091
2025-09-24 16:26:29,943 - mmdet - INFO - Epoch [20][1100/3517]	lr: 5.211e-06, eta: 3:40:50, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1615, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3263, debug_std_frame_4: 0.3798, debug_std_frame_5: 0.4383, loss_rl: -0.2730, loss_critic: 1.1764, loss_rl_bc: 0.0027, il_score: 0.6681, rl_score: 0.6964, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.2816, grad_norm: 40.1526, il_score_sum: 67.0282, rl_score_sum: 68.6335, score_diff: -1.6052, il_win: 76.0000, rl_win: 413.9091
2025-09-24 16:26:45,822 - mmdet - INFO - Epoch [20][1120/3517]	lr: 5.211e-06, eta: 3:40:34, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1683, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2255, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3694, debug_std_frame_5: 0.4236, loss_rl: -0.2516, loss_critic: 1.5515, loss_rl_bc: 0.0124, il_score: 0.6370, rl_score: 0.6578, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.6900, grad_norm: 45.5689, il_score_sum: 67.0282, rl_score_sum: 68.6335, score_diff: -1.6052, il_win: 76.0000, rl_win: 413.9091
2025-09-24 16:27:01,660 - mmdet - INFO - Epoch [20][1140/3517]	lr: 5.211e-06, eta: 3:40:18, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1566, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3751, debug_std_frame_5: 0.4335, loss_rl: -0.2719, loss_critic: 1.2414, loss_rl_bc: 0.0028, il_score: 0.6805, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1669, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.3248, grad_norm: 43.6325, il_score_sum: 67.0282, rl_score_sum: 68.6335, score_diff: -1.6052, il_win: 76.0000, rl_win: 413.9091
2025-09-24 16:27:17,563 - mmdet - INFO - Epoch [20][1160/3517]	lr: 5.211e-06, eta: 3:40:02, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1516, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2631, debug_std_frame_3: 0.3104, debug_std_frame_4: 0.3558, debug_std_frame_5: 0.4081, loss_rl: -0.2947, loss_critic: 1.7288, loss_rl_bc: 0.0022, il_score: 0.6941, rl_score: 0.6829, prev_frame_loss_waypoint_0: 0.1567, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.7738, grad_norm: 42.0524, il_score_sum: 67.0282, rl_score_sum: 68.6335, score_diff: -1.6052, il_win: 76.0000, rl_win: 413.9091
2025-09-24 16:27:33,763 - mmdet - INFO - Epoch [20][1180/3517]	lr: 5.211e-06, eta: 3:39:46, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0284, loss_waypoint: 0.1613, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3291, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4330, loss_rl: -0.2406, loss_critic: 1.4481, loss_rl_bc: 0.0035, il_score: 0.6408, rl_score: 0.6650, prev_frame_loss_waypoint_0: 0.1809, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.5895, grad_norm: 45.6898, il_score_sum: 66.9426, rl_score_sum: 68.5332, score_diff: -1.5906, il_win: 76.0000, rl_win: 414.3333
2025-09-24 16:27:49,605 - mmdet - INFO - Epoch [20][1200/3517]	lr: 5.211e-06, eta: 3:39:29, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1630, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3777, debug_std_frame_5: 0.4311, loss_rl: -0.2118, loss_critic: 1.3751, loss_rl_bc: 0.0037, il_score: 0.6679, rl_score: 0.6833, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.5277, grad_norm: 38.1226, il_score_sum: 66.9426, rl_score_sum: 68.5332, score_diff: -1.5906, il_win: 76.0000, rl_win: 414.3333
2025-09-24 16:28:05,541 - mmdet - INFO - Epoch [20][1220/3517]	lr: 5.211e-06, eta: 3:39:13, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1461, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2615, debug_std_frame_3: 0.3067, debug_std_frame_4: 0.3526, debug_std_frame_5: 0.4058, loss_rl: -0.2755, loss_critic: 1.5693, loss_rl_bc: 0.0019, il_score: 0.6559, rl_score: 0.6966, prev_frame_loss_waypoint_0: 0.1611, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.6327, grad_norm: 39.5315, il_score_sum: 66.9426, rl_score_sum: 68.5332, score_diff: -1.5906, il_win: 76.0000, rl_win: 414.3333
2025-09-24 16:28:21,645 - mmdet - INFO - Epoch [20][1240/3517]	lr: 5.211e-06, eta: 3:38:57, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1642, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2675, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3648, debug_std_frame_5: 0.4198, loss_rl: -0.2646, loss_critic: 1.0857, loss_rl_bc: 0.0033, il_score: 0.6827, rl_score: 0.7015, prev_frame_loss_waypoint_0: 0.1753, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.1951, grad_norm: 44.5528, il_score_sum: 66.9426, rl_score_sum: 68.5332, score_diff: -1.5906, il_win: 76.0000, rl_win: 414.3333
2025-09-24 16:28:37,774 - mmdet - INFO - Epoch [20][1260/3517]	lr: 5.211e-06, eta: 3:38:41, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1731, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2260, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3773, debug_std_frame_5: 0.4325, loss_rl: -0.2894, loss_critic: 1.3348, loss_rl_bc: 0.0070, il_score: 0.6494, rl_score: 0.6720, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.4515, grad_norm: 44.8200, il_score_sum: 66.9426, rl_score_sum: 68.5332, score_diff: -1.5906, il_win: 76.0000, rl_win: 414.3333
2025-09-24 16:28:53,858 - mmdet - INFO - Epoch [20][1280/3517]	lr: 5.211e-06, eta: 3:38:25, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1714, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2285, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3293, debug_std_frame_4: 0.3818, debug_std_frame_5: 0.4393, loss_rl: -0.2862, loss_critic: 1.2572, loss_rl_bc: 0.0040, il_score: 0.6488, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.3679, grad_norm: 49.0167, il_score_sum: 66.8923, rl_score_sum: 68.5695, score_diff: -1.6773, il_win: 76.0000, rl_win: 414.7692
2025-09-24 16:29:09,815 - mmdet - INFO - Epoch [20][1300/3517]	lr: 5.211e-06, eta: 3:38:09, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1703, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2268, debug_std_frame_2: 0.2732, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4349, loss_rl: -0.2935, loss_critic: 1.4440, loss_rl_bc: 0.0071, il_score: 0.6986, rl_score: 0.7078, prev_frame_loss_waypoint_0: 0.1826, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.5469, grad_norm: 51.2157, il_score_sum: 66.8923, rl_score_sum: 68.5695, score_diff: -1.6773, il_win: 76.0000, rl_win: 414.7692
2025-09-24 16:29:25,837 - mmdet - INFO - Epoch [20][1320/3517]	lr: 5.211e-06, eta: 3:37:53, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1761, debug_std_frame_0: 0.2113, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2786, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3816, debug_std_frame_5: 0.4381, loss_rl: -0.2923, loss_critic: 1.4298, loss_rl_bc: 0.0071, il_score: 0.6568, rl_score: 0.6633, prev_frame_loss_waypoint_0: 0.1919, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.5482, grad_norm: 42.4326, il_score_sum: 66.8923, rl_score_sum: 68.5695, score_diff: -1.6773, il_win: 76.0000, rl_win: 414.7692
2025-09-24 16:29:41,907 - mmdet - INFO - Epoch [20][1340/3517]	lr: 5.211e-06, eta: 3:37:37, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1710, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3276, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4323, loss_rl: -0.2762, loss_critic: 1.5385, loss_rl_bc: 0.0072, il_score: 0.6579, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.1808, prev_frame_loss_rl_bc_0: 0.0115, loss: 1.6587, grad_norm: 37.4333, il_score_sum: 66.8923, rl_score_sum: 68.5695, score_diff: -1.6773, il_win: 76.0000, rl_win: 414.7692
2025-09-24 16:29:57,826 - mmdet - INFO - Epoch [20][1360/3517]	lr: 5.211e-06, eta: 3:37:21, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1882, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2320, debug_std_frame_2: 0.2866, debug_std_frame_3: 0.3438, debug_std_frame_4: 0.4007, debug_std_frame_5: 0.4634, loss_rl: -0.2404, loss_critic: 1.3552, loss_rl_bc: 0.0146, il_score: 0.6671, rl_score: 0.6693, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.5429, grad_norm: 51.3669, il_score_sum: 66.8923, rl_score_sum: 68.5695, score_diff: -1.6773, il_win: 76.0000, rl_win: 414.7692
2025-09-24 16:30:14,090 - mmdet - INFO - Epoch [20][1380/3517]	lr: 5.211e-06, eta: 3:37:05, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1577, debug_std_frame_0: 0.2135, debug_std_frame_1: 0.2313, debug_std_frame_2: 0.2770, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3779, debug_std_frame_5: 0.4350, loss_rl: -0.2731, loss_critic: 1.2549, loss_rl_bc: 0.0017, il_score: 0.6916, rl_score: 0.7105, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0016, loss: 1.3379, grad_norm: 51.8271, il_score_sum: 66.9172, rl_score_sum: 68.5698, score_diff: -1.6525, il_win: 76.0000, rl_win: 415.2143
2025-09-24 16:30:30,159 - mmdet - INFO - Epoch [20][1400/3517]	lr: 5.211e-06, eta: 3:36:49, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1612, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2822, debug_std_frame_3: 0.3336, debug_std_frame_4: 0.3887, debug_std_frame_5: 0.4477, loss_rl: -0.2893, loss_critic: 1.3070, loss_rl_bc: 0.0034, il_score: 0.6597, rl_score: 0.7029, prev_frame_loss_waypoint_0: 0.1723, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.3853, grad_norm: 36.2604, il_score_sum: 66.9172, rl_score_sum: 68.5698, score_diff: -1.6525, il_win: 76.0000, rl_win: 415.2143
2025-09-24 16:30:46,431 - mmdet - INFO - Epoch [20][1420/3517]	lr: 5.211e-06, eta: 3:36:33, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1505, debug_std_frame_0: 0.2114, debug_std_frame_1: 0.2260, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3213, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4237, loss_rl: -0.2675, loss_critic: 1.0472, loss_rl_bc: 0.0018, il_score: 0.6795, rl_score: 0.6950, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.1456, grad_norm: 32.4972, il_score_sum: 66.9172, rl_score_sum: 68.5698, score_diff: -1.6525, il_win: 76.0000, rl_win: 415.2143
2025-09-24 16:31:02,330 - mmdet - INFO - Epoch [20][1440/3517]	lr: 5.211e-06, eta: 3:36:17, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1520, debug_std_frame_0: 0.2130, debug_std_frame_1: 0.2279, debug_std_frame_2: 0.2753, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4305, loss_rl: -0.2889, loss_critic: 1.2354, loss_rl_bc: 0.0033, il_score: 0.6595, rl_score: 0.6887, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.3237, grad_norm: 36.2870, il_score_sum: 66.9172, rl_score_sum: 68.5698, score_diff: -1.6525, il_win: 76.0000, rl_win: 415.2143
2025-09-24 16:31:18,360 - mmdet - INFO - Epoch [20][1460/3517]	lr: 5.211e-06, eta: 3:36:00, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1561, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3174, debug_std_frame_4: 0.3670, debug_std_frame_5: 0.4220, loss_rl: -0.2801, loss_critic: 1.1938, loss_rl_bc: 0.0027, il_score: 0.6546, rl_score: 0.6927, prev_frame_loss_waypoint_0: 0.1705, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.2719, grad_norm: 42.0551, il_score_sum: 66.9172, rl_score_sum: 68.5698, score_diff: -1.6525, il_win: 76.0000, rl_win: 415.2143
2025-09-24 16:31:34,731 - mmdet - INFO - Epoch [20][1480/3517]	lr: 5.211e-06, eta: 3:35:44, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1747, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3740, debug_std_frame_5: 0.4291, loss_rl: -0.2963, loss_critic: 1.2002, loss_rl_bc: 0.0042, il_score: 0.6749, rl_score: 0.7128, prev_frame_loss_waypoint_0: 0.1810, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.2954, grad_norm: 37.0548, il_score_sum: 66.9042, rl_score_sum: 68.6586, score_diff: -1.7545, il_win: 76.0000, rl_win: 415.6667
2025-09-24 16:31:50,576 - mmdet - INFO - Epoch [20][1500/3517]	lr: 5.211e-06, eta: 3:35:28, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1657, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2254, debug_std_frame_2: 0.2759, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4322, loss_rl: -0.2947, loss_critic: 1.3904, loss_rl_bc: 0.0046, il_score: 0.6895, rl_score: 0.7113, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.4739, grad_norm: 44.4766, il_score_sum: 66.9042, rl_score_sum: 68.6586, score_diff: -1.7545, il_win: 76.0000, rl_win: 415.6667
2025-09-24 16:32:06,498 - mmdet - INFO - Epoch [20][1520/3517]	lr: 5.211e-06, eta: 3:35:12, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1804, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3300, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4384, loss_rl: -0.2957, loss_critic: 1.3417, loss_rl_bc: 0.0101, il_score: 0.6338, rl_score: 0.6742, prev_frame_loss_waypoint_0: 0.1840, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.4557, grad_norm: 36.2675, il_score_sum: 66.9042, rl_score_sum: 68.6586, score_diff: -1.7545, il_win: 76.0000, rl_win: 415.6667
2025-09-24 16:32:22,460 - mmdet - INFO - Epoch [20][1540/3517]	lr: 5.211e-06, eta: 3:34:56, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1444, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4168, loss_rl: -0.2952, loss_critic: 1.4239, loss_rl_bc: -0.0000, il_score: 0.6671, rl_score: 0.6772, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.4866, grad_norm: 46.3610, il_score_sum: 66.9042, rl_score_sum: 68.6586, score_diff: -1.7545, il_win: 76.0000, rl_win: 415.6667
2025-09-24 16:32:38,536 - mmdet - INFO - Epoch [20][1560/3517]	lr: 5.211e-06, eta: 3:34:40, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1848, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3334, debug_std_frame_4: 0.3843, debug_std_frame_5: 0.4408, loss_rl: -0.2189, loss_critic: 1.2050, loss_rl_bc: 0.0070, il_score: 0.6210, rl_score: 0.6558, prev_frame_loss_waypoint_0: 0.2151, prev_frame_loss_rl_bc_0: 0.0346, loss: 1.4538, grad_norm: 58.1795, il_score_sum: 66.9042, rl_score_sum: 68.6586, score_diff: -1.7545, il_win: 76.0000, rl_win: 415.6667
2025-09-24 16:32:54,694 - mmdet - INFO - Epoch [20][1580/3517]	lr: 5.211e-06, eta: 3:34:24, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1501, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2280, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3199, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4206, loss_rl: -0.3199, loss_critic: 1.5278, loss_rl_bc: 0.0031, il_score: 0.6781, rl_score: 0.7110, prev_frame_loss_waypoint_0: 0.1563, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.5476, grad_norm: 33.1900, il_score_sum: 66.8329, rl_score_sum: 68.6633, score_diff: -1.8304, il_win: 76.0000, rl_win: 416.1250
2025-09-24 16:33:10,471 - mmdet - INFO - Epoch [20][1600/3517]	lr: 5.211e-06, eta: 3:34:08, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1740, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2301, debug_std_frame_2: 0.2835, debug_std_frame_3: 0.3340, debug_std_frame_4: 0.3870, debug_std_frame_5: 0.4440, loss_rl: -0.2603, loss_critic: 1.2351, loss_rl_bc: 0.0067, il_score: 0.6816, rl_score: 0.6635, prev_frame_loss_waypoint_0: 0.1898, prev_frame_loss_rl_bc_0: 0.0134, loss: 1.3863, grad_norm: 41.8476, il_score_sum: 66.8329, rl_score_sum: 68.6633, score_diff: -1.8304, il_win: 76.0000, rl_win: 416.1250
2025-09-24 16:33:26,320 - mmdet - INFO - Epoch [20][1620/3517]	lr: 5.211e-06, eta: 3:33:52, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1388, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3253, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4285, loss_rl: -0.2297, loss_critic: 1.6330, loss_rl_bc: 0.0031, il_score: 0.6616, rl_score: 0.6596, prev_frame_loss_waypoint_0: 0.1511, prev_frame_loss_rl_bc_0: 0.0016, loss: 1.7254, grad_norm: 43.2659, il_score_sum: 66.8329, rl_score_sum: 68.6633, score_diff: -1.8304, il_win: 76.0000, rl_win: 416.1250
2025-09-24 16:33:42,328 - mmdet - INFO - Epoch [20][1640/3517]	lr: 5.211e-06, eta: 3:33:36, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1820, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2308, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3339, debug_std_frame_4: 0.3864, debug_std_frame_5: 0.4419, loss_rl: -0.2684, loss_critic: 1.4284, loss_rl_bc: 0.0093, il_score: 0.6233, rl_score: 0.6514, prev_frame_loss_waypoint_0: 0.1904, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.5720, grad_norm: 55.6883, il_score_sum: 66.8329, rl_score_sum: 68.6633, score_diff: -1.8304, il_win: 76.0000, rl_win: 416.1250
2025-09-24 16:33:58,401 - mmdet - INFO - Epoch [20][1660/3517]	lr: 5.211e-06, eta: 3:33:20, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1521, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3233, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4271, loss_rl: -0.2848, loss_critic: 1.4686, loss_rl_bc: 0.0009, il_score: 0.6772, rl_score: 0.6876, prev_frame_loss_waypoint_0: 0.1554, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5210, grad_norm: 34.6164, il_score_sum: 66.8329, rl_score_sum: 68.6633, score_diff: -1.8304, il_win: 76.0000, rl_win: 416.1250
2025-09-24 16:34:14,626 - mmdet - INFO - Epoch [20][1680/3517]	lr: 5.211e-06, eta: 3:33:03, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1705, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3275, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4317, loss_rl: -0.2846, loss_critic: 1.0646, loss_rl_bc: 0.0073, il_score: 0.6967, rl_score: 0.7131, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.1569, grad_norm: 39.1434, il_score_sum: 66.8291, rl_score_sum: 68.5832, score_diff: -1.7540, il_win: 76.0000, rl_win: 416.5294
2025-09-24 16:34:30,537 - mmdet - INFO - Epoch [20][1700/3517]	lr: 5.211e-06, eta: 3:32:47, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1677, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2292, debug_std_frame_2: 0.2813, debug_std_frame_3: 0.3321, debug_std_frame_4: 0.3835, debug_std_frame_5: 0.4402, loss_rl: -0.2526, loss_critic: 1.1236, loss_rl_bc: 0.0050, il_score: 0.6960, rl_score: 0.7038, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.2490, grad_norm: 33.1823, il_score_sum: 66.8291, rl_score_sum: 68.5832, score_diff: -1.7540, il_win: 76.0000, rl_win: 416.5294
2025-09-24 16:34:46,564 - mmdet - INFO - Epoch [20][1720/3517]	lr: 5.211e-06, eta: 3:32:31, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1592, debug_std_frame_0: 0.2114, debug_std_frame_1: 0.2287, debug_std_frame_2: 0.2770, debug_std_frame_3: 0.3251, debug_std_frame_4: 0.3768, debug_std_frame_5: 0.4349, loss_rl: -0.2427, loss_critic: 1.4986, loss_rl_bc: 0.0061, il_score: 0.6689, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.6168, grad_norm: 46.8347, il_score_sum: 66.8291, rl_score_sum: 68.5832, score_diff: -1.7540, il_win: 76.0000, rl_win: 416.5294
2025-09-24 16:35:02,727 - mmdet - INFO - Epoch [20][1740/3517]	lr: 5.211e-06, eta: 3:32:15, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1602, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3146, debug_std_frame_4: 0.3626, debug_std_frame_5: 0.4168, loss_rl: -0.2305, loss_critic: 1.5391, loss_rl_bc: 0.0052, il_score: 0.6277, rl_score: 0.6556, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6836, grad_norm: 42.2876, il_score_sum: 66.8291, rl_score_sum: 68.5832, score_diff: -1.7540, il_win: 76.0000, rl_win: 416.5294
2025-09-24 16:35:18,793 - mmdet - INFO - Epoch [20][1760/3517]	lr: 5.211e-06, eta: 3:31:59, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1622, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2275, debug_std_frame_2: 0.2806, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3820, debug_std_frame_5: 0.4448, loss_rl: -0.2740, loss_critic: 1.3085, loss_rl_bc: 0.0055, il_score: 0.6505, rl_score: 0.6659, prev_frame_loss_waypoint_0: 0.1870, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.4260, grad_norm: 40.7958, il_score_sum: 66.8291, rl_score_sum: 68.5832, score_diff: -1.7540, il_win: 76.0000, rl_win: 416.5294
2025-09-24 16:35:34,909 - mmdet - INFO - Epoch [20][1780/3517]	lr: 5.211e-06, eta: 3:31:43, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1627, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2286, debug_std_frame_2: 0.2759, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4270, loss_rl: -0.2736, loss_critic: 1.3690, loss_rl_bc: 0.0081, il_score: 0.6773, rl_score: 0.6894, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.4841, grad_norm: 37.1494, il_score_sum: 66.8080, rl_score_sum: 68.5418, score_diff: -1.7338, il_win: 76.0000, rl_win: 416.9444
2025-09-24 16:35:50,890 - mmdet - INFO - Epoch [20][1800/3517]	lr: 5.211e-06, eta: 3:31:27, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1456, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4239, loss_rl: -0.3048, loss_critic: 1.6716, loss_rl_bc: 0.0004, il_score: 0.6664, rl_score: 0.6871, prev_frame_loss_waypoint_0: 0.1644, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.7054, grad_norm: 39.2190, il_score_sum: 66.8080, rl_score_sum: 68.5418, score_diff: -1.7338, il_win: 76.0000, rl_win: 416.9444
2025-09-24 16:36:06,788 - mmdet - INFO - Epoch [20][1820/3517]	lr: 5.211e-06, eta: 3:31:11, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1367, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2749, debug_std_frame_3: 0.3253, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4345, loss_rl: -0.2794, loss_critic: 1.2638, loss_rl_bc: -0.0024, il_score: 0.6798, rl_score: 0.6912, prev_frame_loss_waypoint_0: 0.1708, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.3189, grad_norm: 33.9683, il_score_sum: 66.8080, rl_score_sum: 68.5418, score_diff: -1.7338, il_win: 76.0000, rl_win: 416.9444
2025-09-24 16:36:22,711 - mmdet - INFO - Epoch [20][1840/3517]	lr: 5.211e-06, eta: 3:30:55, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1411, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2178, debug_std_frame_2: 0.2624, debug_std_frame_3: 0.3070, debug_std_frame_4: 0.3511, debug_std_frame_5: 0.4017, loss_rl: -0.3228, loss_critic: 1.7523, loss_rl_bc: 0.0002, il_score: 0.6760, rl_score: 0.7004, prev_frame_loss_waypoint_0: 0.1399, prev_frame_loss_rl_bc_0: -0.0044, loss: 1.7327, grad_norm: 42.0661, il_score_sum: 66.8080, rl_score_sum: 68.5418, score_diff: -1.7338, il_win: 76.0000, rl_win: 416.9444
2025-09-24 16:36:38,549 - mmdet - INFO - Epoch [20][1860/3517]	lr: 5.211e-06, eta: 3:30:39, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1863, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3183, debug_std_frame_4: 0.3664, debug_std_frame_5: 0.4208, loss_rl: -0.2785, loss_critic: 1.2013, loss_rl_bc: 0.0157, il_score: 0.6654, rl_score: 0.6946, prev_frame_loss_waypoint_0: 0.1899, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.3537, grad_norm: 52.2383, il_score_sum: 66.8080, rl_score_sum: 68.5418, score_diff: -1.7338, il_win: 76.0000, rl_win: 416.9444
2025-09-24 16:36:54,940 - mmdet - INFO - Epoch [20][1880/3517]	lr: 5.211e-06, eta: 3:30:23, time: 0.820, data_time: 0.011, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1600, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3185, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4207, loss_rl: -0.3096, loss_critic: 1.0426, loss_rl_bc: 0.0011, il_score: 0.7191, rl_score: 0.7354, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.0949, grad_norm: 41.1088, il_score_sum: 66.8661, rl_score_sum: 68.6144, score_diff: -1.7483, il_win: 76.0000, rl_win: 417.3684
2025-09-24 16:37:10,792 - mmdet - INFO - Epoch [20][1900/3517]	lr: 5.211e-06, eta: 3:30:06, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1489, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2260, debug_std_frame_2: 0.2803, debug_std_frame_3: 0.3340, debug_std_frame_4: 0.3871, debug_std_frame_5: 0.4471, loss_rl: -0.2773, loss_critic: 1.4787, loss_rl_bc: 0.0055, il_score: 0.6499, rl_score: 0.6656, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5776, grad_norm: 46.0777, il_score_sum: 66.8661, rl_score_sum: 68.6144, score_diff: -1.7483, il_win: 76.0000, rl_win: 417.3684
2025-09-24 16:37:26,729 - mmdet - INFO - Epoch [20][1920/3517]	lr: 5.211e-06, eta: 3:29:50, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1695, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2782, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3840, debug_std_frame_5: 0.4425, loss_rl: -0.2620, loss_critic: 1.3552, loss_rl_bc: 0.0302, il_score: 0.6479, rl_score: 0.6813, prev_frame_loss_waypoint_0: 0.1811, prev_frame_loss_rl_bc_0: 0.0290, loss: 1.5292, grad_norm: 50.6798, il_score_sum: 66.8661, rl_score_sum: 68.6144, score_diff: -1.7483, il_win: 76.0000, rl_win: 417.3684
2025-09-24 16:37:42,651 - mmdet - INFO - Epoch [20][1940/3517]	lr: 5.211e-06, eta: 3:29:34, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1625, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2749, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3773, debug_std_frame_5: 0.4338, loss_rl: -0.2412, loss_critic: 1.6801, loss_rl_bc: 0.0050, il_score: 0.6636, rl_score: 0.6709, prev_frame_loss_waypoint_0: 0.1740, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.8112, grad_norm: 43.5401, il_score_sum: 66.8661, rl_score_sum: 68.6144, score_diff: -1.7483, il_win: 76.0000, rl_win: 417.3684
2025-09-24 16:37:58,643 - mmdet - INFO - Epoch [20][1960/3517]	lr: 5.211e-06, eta: 3:29:18, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1642, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2812, debug_std_frame_3: 0.3307, debug_std_frame_4: 0.3825, debug_std_frame_5: 0.4393, loss_rl: -0.2296, loss_critic: 1.4228, loss_rl_bc: 0.0065, il_score: 0.6487, rl_score: 0.6519, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.5693, grad_norm: 39.0312, il_score_sum: 66.8661, rl_score_sum: 68.6144, score_diff: -1.7483, il_win: 76.0000, rl_win: 417.3684
2025-09-24 16:38:14,990 - mmdet - INFO - Epoch [20][1980/3517]	lr: 5.211e-06, eta: 3:29:02, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1909, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2753, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4349, loss_rl: -0.2305, loss_critic: 1.3635, loss_rl_bc: 0.0167, il_score: 0.6419, rl_score: 0.6688, prev_frame_loss_waypoint_0: 0.1790, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.5534, grad_norm: 39.7643, il_score_sum: 66.8114, rl_score_sum: 68.5501, score_diff: -1.7387, il_win: 76.0000, rl_win: 417.8000
2025-09-24 16:38:30,727 - mmdet - INFO - Epoch [20][2000/3517]	lr: 5.211e-06, eta: 3:28:46, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1780, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2293, debug_std_frame_2: 0.2819, debug_std_frame_3: 0.3358, debug_std_frame_4: 0.3895, debug_std_frame_5: 0.4468, loss_rl: -0.2122, loss_critic: 1.3207, loss_rl_bc: 0.0088, il_score: 0.6605, rl_score: 0.6598, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.5031, grad_norm: 41.5265, il_score_sum: 66.8114, rl_score_sum: 68.5501, score_diff: -1.7387, il_win: 76.0000, rl_win: 417.8000
2025-09-24 16:38:46,707 - mmdet - INFO - Epoch [20][2020/3517]	lr: 5.211e-06, eta: 3:28:30, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1715, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2786, debug_std_frame_3: 0.3287, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4448, loss_rl: -0.2694, loss_critic: 1.2314, loss_rl_bc: 0.0068, il_score: 0.6556, rl_score: 0.7086, prev_frame_loss_waypoint_0: 0.1883, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.3648, grad_norm: 40.6434, il_score_sum: 66.8114, rl_score_sum: 68.5501, score_diff: -1.7387, il_win: 76.0000, rl_win: 417.8000
2025-09-24 16:39:02,783 - mmdet - INFO - Epoch [20][2040/3517]	lr: 5.211e-06, eta: 3:28:14, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1641, debug_std_frame_0: 0.2115, debug_std_frame_1: 0.2309, debug_std_frame_2: 0.2795, debug_std_frame_3: 0.3296, debug_std_frame_4: 0.3841, debug_std_frame_5: 0.4396, loss_rl: -0.2463, loss_critic: 1.1759, loss_rl_bc: 0.0034, il_score: 0.6597, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.3142, grad_norm: 49.1109, il_score_sum: 66.8114, rl_score_sum: 68.5501, score_diff: -1.7387, il_win: 76.0000, rl_win: 417.8000
2025-09-24 16:39:18,879 - mmdet - INFO - Epoch [20][2060/3517]	lr: 5.211e-06, eta: 3:27:58, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1548, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3700, debug_std_frame_5: 0.4242, loss_rl: -0.2626, loss_critic: 1.4783, loss_rl_bc: 0.0055, il_score: 0.7037, rl_score: 0.6897, prev_frame_loss_waypoint_0: 0.1638, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.5701, grad_norm: 38.8174, il_score_sum: 66.8114, rl_score_sum: 68.5501, score_diff: -1.7387, il_win: 76.0000, rl_win: 417.8000
2025-09-24 16:39:35,117 - mmdet - INFO - Epoch [20][2080/3517]	lr: 5.211e-06, eta: 3:27:42, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0281, loss_waypoint: 0.1631, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2293, debug_std_frame_2: 0.2841, debug_std_frame_3: 0.3357, debug_std_frame_4: 0.3876, debug_std_frame_5: 0.4424, loss_rl: -0.2632, loss_critic: 1.3588, loss_rl_bc: 0.0049, il_score: 0.6673, rl_score: 0.6785, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4740, grad_norm: 41.7703, il_score_sum: 66.9167, rl_score_sum: 68.6717, score_diff: -1.7550, il_win: 76.0000, rl_win: 418.7000
2025-09-24 16:39:50,983 - mmdet - INFO - Epoch [20][2100/3517]	lr: 5.211e-06, eta: 3:27:26, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1554, debug_std_frame_0: 0.2117, debug_std_frame_1: 0.2307, debug_std_frame_2: 0.2814, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3849, debug_std_frame_5: 0.4413, loss_rl: -0.2280, loss_critic: 1.3910, loss_rl_bc: 0.0031, il_score: 0.6502, rl_score: 0.6719, prev_frame_loss_waypoint_0: 0.1809, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.5359, grad_norm: 47.0287, il_score_sum: 66.9167, rl_score_sum: 68.6717, score_diff: -1.7550, il_win: 76.0000, rl_win: 418.7000
2025-09-24 16:40:07,021 - mmdet - INFO - Epoch [20][2120/3517]	lr: 5.211e-06, eta: 3:27:10, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1764, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2812, debug_std_frame_3: 0.3363, debug_std_frame_4: 0.3925, debug_std_frame_5: 0.4473, loss_rl: -0.2530, loss_critic: 1.3602, loss_rl_bc: 0.0072, il_score: 0.6733, rl_score: 0.7046, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.5022, grad_norm: 32.7163, il_score_sum: 66.9167, rl_score_sum: 68.6717, score_diff: -1.7550, il_win: 76.0000, rl_win: 418.7000
2025-09-24 16:40:23,110 - mmdet - INFO - Epoch [20][2140/3517]	lr: 5.211e-06, eta: 3:26:53, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1726, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2285, debug_std_frame_2: 0.2810, debug_std_frame_3: 0.3317, debug_std_frame_4: 0.3837, debug_std_frame_5: 0.4382, loss_rl: -0.2647, loss_critic: 1.2492, loss_rl_bc: 0.0103, il_score: 0.6391, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.1800, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.3844, grad_norm: 31.7410, il_score_sum: 66.9167, rl_score_sum: 68.6717, score_diff: -1.7550, il_win: 76.0000, rl_win: 418.7000
2025-09-24 16:40:38,958 - mmdet - INFO - Epoch [20][2160/3517]	lr: 5.211e-06, eta: 3:26:37, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1605, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2770, debug_std_frame_3: 0.3262, debug_std_frame_4: 0.3773, debug_std_frame_5: 0.4305, loss_rl: -0.2684, loss_critic: 1.3554, loss_rl_bc: 0.0071, il_score: 0.6700, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.1715, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4567, grad_norm: 34.9310, il_score_sum: 66.9167, rl_score_sum: 68.6717, score_diff: -1.7550, il_win: 76.0000, rl_win: 418.7000
2025-09-24 16:40:55,089 - mmdet - INFO - Epoch [20][2180/3517]	lr: 5.211e-06, eta: 3:26:21, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1597, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2314, debug_std_frame_2: 0.2840, debug_std_frame_3: 0.3350, debug_std_frame_4: 0.3885, debug_std_frame_5: 0.4417, loss_rl: -0.2792, loss_critic: 1.3131, loss_rl_bc: 0.0017, il_score: 0.6736, rl_score: 0.7021, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.4137, grad_norm: 39.7704, il_score_sum: 66.7986, rl_score_sum: 68.6254, score_diff: -1.8268, il_win: 76.0000, rl_win: 419.6000
2025-09-24 16:41:11,004 - mmdet - INFO - Epoch [20][2200/3517]	lr: 5.211e-06, eta: 3:26:05, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1558, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2280, debug_std_frame_2: 0.2801, debug_std_frame_3: 0.3348, debug_std_frame_4: 0.3891, debug_std_frame_5: 0.4443, loss_rl: -0.2375, loss_critic: 1.4904, loss_rl_bc: 0.0061, il_score: 0.6744, rl_score: 0.6689, prev_frame_loss_waypoint_0: 0.1932, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.6433, grad_norm: 38.0872, il_score_sum: 66.7986, rl_score_sum: 68.6254, score_diff: -1.8268, il_win: 76.0000, rl_win: 419.6000
2025-09-24 16:41:27,044 - mmdet - INFO - Epoch [20][2220/3517]	lr: 5.211e-06, eta: 3:25:49, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1745, debug_std_frame_0: 0.2114, debug_std_frame_1: 0.2339, debug_std_frame_2: 0.2884, debug_std_frame_3: 0.3457, debug_std_frame_4: 0.3994, debug_std_frame_5: 0.4552, loss_rl: -0.2626, loss_critic: 1.2850, loss_rl_bc: 0.0095, il_score: 0.6561, rl_score: 0.6619, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.4297, grad_norm: 38.2741, il_score_sum: 66.7986, rl_score_sum: 68.6254, score_diff: -1.8268, il_win: 76.0000, rl_win: 419.6000
2025-09-24 16:41:43,070 - mmdet - INFO - Epoch [20][2240/3517]	lr: 5.211e-06, eta: 3:25:33, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1734, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2765, debug_std_frame_3: 0.3248, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4263, loss_rl: -0.3062, loss_critic: 1.1490, loss_rl_bc: 0.0051, il_score: 0.6974, rl_score: 0.7182, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.2469, grad_norm: 43.8068, il_score_sum: 66.7986, rl_score_sum: 68.6254, score_diff: -1.8268, il_win: 76.0000, rl_win: 419.6000
2025-09-24 16:41:58,975 - mmdet - INFO - Epoch [20][2260/3517]	lr: 5.211e-06, eta: 3:25:17, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1615, debug_std_frame_0: 0.2121, debug_std_frame_1: 0.2343, debug_std_frame_2: 0.2869, debug_std_frame_3: 0.3425, debug_std_frame_4: 0.3970, debug_std_frame_5: 0.4543, loss_rl: -0.2128, loss_critic: 1.0748, loss_rl_bc: 0.0039, il_score: 0.6683, rl_score: 0.6974, prev_frame_loss_waypoint_0: 0.1835, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.2441, grad_norm: 48.4174, il_score_sum: 66.7986, rl_score_sum: 68.6254, score_diff: -1.8268, il_win: 76.0000, rl_win: 419.6000
2025-09-24 16:42:15,143 - mmdet - INFO - Epoch [20][2280/3517]	lr: 5.211e-06, eta: 3:25:01, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1868, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2755, debug_std_frame_3: 0.3278, debug_std_frame_4: 0.3809, debug_std_frame_5: 0.4378, loss_rl: -0.2248, loss_critic: 1.1922, loss_rl_bc: 0.0093, il_score: 0.6553, rl_score: 0.6776, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.3831, grad_norm: 44.6541, il_score_sum: 66.7840, rl_score_sum: 68.5835, score_diff: -1.7996, il_win: 76.0000, rl_win: 420.5000
2025-09-24 16:42:31,116 - mmdet - INFO - Epoch [20][2300/3517]	lr: 5.211e-06, eta: 3:24:45, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1711, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2853, debug_std_frame_3: 0.3390, debug_std_frame_4: 0.3944, debug_std_frame_5: 0.4501, loss_rl: -0.2878, loss_critic: 1.3089, loss_rl_bc: 0.0068, il_score: 0.6759, rl_score: 0.6861, prev_frame_loss_waypoint_0: 0.1917, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4249, grad_norm: 44.1233, il_score_sum: 66.7840, rl_score_sum: 68.5835, score_diff: -1.7996, il_win: 76.0000, rl_win: 420.5000
2025-09-24 16:42:46,943 - mmdet - INFO - Epoch [20][2320/3517]	lr: 5.211e-06, eta: 3:24:29, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1475, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2305, debug_std_frame_2: 0.2785, debug_std_frame_3: 0.3297, debug_std_frame_4: 0.3819, debug_std_frame_5: 0.4350, loss_rl: -0.3047, loss_critic: 1.4238, loss_rl_bc: 0.0038, il_score: 0.6670, rl_score: 0.6900, prev_frame_loss_waypoint_0: 0.1632, prev_frame_loss_rl_bc_0: 0.0102, loss: 1.4694, grad_norm: 45.8595, il_score_sum: 66.7840, rl_score_sum: 68.5835, score_diff: -1.7996, il_win: 76.0000, rl_win: 420.5000
2025-09-24 16:43:02,968 - mmdet - INFO - Epoch [20][2340/3517]	lr: 5.211e-06, eta: 3:24:13, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1573, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2253, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3332, debug_std_frame_4: 0.3875, debug_std_frame_5: 0.4436, loss_rl: -0.2969, loss_critic: 1.5128, loss_rl_bc: 0.0020, il_score: 0.6893, rl_score: 0.7109, prev_frame_loss_waypoint_0: 0.1703, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.5758, grad_norm: 39.2120, il_score_sum: 66.7840, rl_score_sum: 68.5835, score_diff: -1.7996, il_win: 76.0000, rl_win: 420.5000
2025-09-24 16:43:19,115 - mmdet - INFO - Epoch [20][2360/3517]	lr: 5.211e-06, eta: 3:23:56, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1602, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2796, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4417, loss_rl: -0.3277, loss_critic: 1.6054, loss_rl_bc: 0.0108, il_score: 0.6677, rl_score: 0.6787, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.6657, grad_norm: 52.8835, il_score_sum: 66.7840, rl_score_sum: 68.5835, score_diff: -1.7996, il_win: 76.0000, rl_win: 420.5000
2025-09-24 16:43:35,483 - mmdet - INFO - Epoch [20][2380/3517]	lr: 5.211e-06, eta: 3:23:40, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1643, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3288, debug_std_frame_4: 0.3812, debug_std_frame_5: 0.4344, loss_rl: -0.2571, loss_critic: 1.3335, loss_rl_bc: 0.0039, il_score: 0.6776, rl_score: 0.6851, prev_frame_loss_waypoint_0: 0.1774, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.4535, grad_norm: 35.3229, il_score_sum: 66.7899, rl_score_sum: 68.5901, score_diff: -1.8003, il_win: 76.0000, rl_win: 421.4000
2025-09-24 16:43:51,278 - mmdet - INFO - Epoch [20][2400/3517]	lr: 5.211e-06, eta: 3:23:24, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1643, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2273, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3657, debug_std_frame_5: 0.4193, loss_rl: -0.2953, loss_critic: 1.1898, loss_rl_bc: 0.0071, il_score: 0.6972, rl_score: 0.7035, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.2852, grad_norm: 43.4045, il_score_sum: 66.7899, rl_score_sum: 68.5901, score_diff: -1.8003, il_win: 76.0000, rl_win: 421.4000
2025-09-24 16:44:07,148 - mmdet - INFO - Epoch [20][2420/3517]	lr: 5.211e-06, eta: 3:23:08, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1568, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3335, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4434, loss_rl: -0.2453, loss_critic: 1.3888, loss_rl_bc: 0.0031, il_score: 0.6348, rl_score: 0.6635, prev_frame_loss_waypoint_0: 0.1730, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.5088, grad_norm: 50.2387, il_score_sum: 66.7899, rl_score_sum: 68.5901, score_diff: -1.8003, il_win: 76.0000, rl_win: 421.4000
2025-09-24 16:44:23,213 - mmdet - INFO - Epoch [20][2440/3517]	lr: 5.211e-06, eta: 3:22:52, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1618, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2322, debug_std_frame_2: 0.2855, debug_std_frame_3: 0.3392, debug_std_frame_4: 0.3906, debug_std_frame_5: 0.4458, loss_rl: -0.2589, loss_critic: 1.2317, loss_rl_bc: 0.0057, il_score: 0.6276, rl_score: 0.6544, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.3615, grad_norm: 33.9602, il_score_sum: 66.7899, rl_score_sum: 68.5901, score_diff: -1.8003, il_win: 76.0000, rl_win: 421.4000
2025-09-24 16:44:39,056 - mmdet - INFO - Epoch [20][2460/3517]	lr: 5.211e-06, eta: 3:22:36, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1699, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2292, debug_std_frame_2: 0.2817, debug_std_frame_3: 0.3361, debug_std_frame_4: 0.3929, debug_std_frame_5: 0.4514, loss_rl: -0.2186, loss_critic: 1.2930, loss_rl_bc: 0.0094, il_score: 0.6351, rl_score: 0.6590, prev_frame_loss_waypoint_0: 0.1844, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4708, grad_norm: 46.7380, il_score_sum: 66.7899, rl_score_sum: 68.5901, score_diff: -1.8003, il_win: 76.0000, rl_win: 421.4000
2025-09-24 16:44:55,171 - mmdet - INFO - Epoch [20][2480/3517]	lr: 5.211e-06, eta: 3:22:20, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1539, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2290, debug_std_frame_2: 0.2753, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4308, loss_rl: -0.2571, loss_critic: 1.3471, loss_rl_bc: 0.0035, il_score: 0.6572, rl_score: 0.6669, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4531, grad_norm: 44.5105, il_score_sum: 66.7611, rl_score_sum: 68.5373, score_diff: -1.7762, il_win: 76.0000, rl_win: 422.3000
2025-09-24 16:45:10,893 - mmdet - INFO - Epoch [20][2500/3517]	lr: 5.211e-06, eta: 3:22:04, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1659, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2807, debug_std_frame_3: 0.3347, debug_std_frame_4: 0.3881, debug_std_frame_5: 0.4471, loss_rl: -0.2688, loss_critic: 1.2511, loss_rl_bc: 0.0045, il_score: 0.6654, rl_score: 0.6972, prev_frame_loss_waypoint_0: 0.1870, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3731, grad_norm: 39.1924, il_score_sum: 66.7611, rl_score_sum: 68.5373, score_diff: -1.7762, il_win: 76.0000, rl_win: 422.3000
2025-09-24 16:45:27,073 - mmdet - INFO - Epoch [20][2520/3517]	lr: 5.211e-06, eta: 3:21:48, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1603, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3241, debug_std_frame_4: 0.3747, debug_std_frame_5: 0.4283, loss_rl: -0.2345, loss_critic: 1.1559, loss_rl_bc: 0.0039, il_score: 0.6884, rl_score: 0.6933, prev_frame_loss_waypoint_0: 0.1694, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.2838, grad_norm: 37.2665, il_score_sum: 66.7611, rl_score_sum: 68.5373, score_diff: -1.7762, il_win: 76.0000, rl_win: 422.3000
2025-09-24 16:45:43,308 - mmdet - INFO - Epoch [20][2540/3517]	lr: 5.211e-06, eta: 3:21:32, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1581, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3732, debug_std_frame_5: 0.4254, loss_rl: -0.2546, loss_critic: 1.4817, loss_rl_bc: 0.0058, il_score: 0.6375, rl_score: 0.6575, prev_frame_loss_waypoint_0: 0.1719, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.5954, grad_norm: 50.8518, il_score_sum: 66.7611, rl_score_sum: 68.5373, score_diff: -1.7762, il_win: 76.0000, rl_win: 422.3000
2025-09-24 16:45:59,220 - mmdet - INFO - Epoch [20][2560/3517]	lr: 5.211e-06, eta: 3:21:16, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1584, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2264, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3218, debug_std_frame_4: 0.3727, debug_std_frame_5: 0.4262, loss_rl: -0.2894, loss_critic: 1.5616, loss_rl_bc: 0.0059, il_score: 0.6642, rl_score: 0.6874, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.6451, grad_norm: 41.1227, il_score_sum: 66.7611, rl_score_sum: 68.5373, score_diff: -1.7762, il_win: 76.0000, rl_win: 422.3000
2025-09-24 16:46:15,502 - mmdet - INFO - Epoch [20][2580/3517]	lr: 5.211e-06, eta: 3:21:00, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1560, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3736, debug_std_frame_5: 0.4269, loss_rl: -0.2637, loss_critic: 1.4695, loss_rl_bc: 0.0045, il_score: 0.6682, rl_score: 0.6920, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.5722, grad_norm: 45.5583, il_score_sum: 66.7631, rl_score_sum: 68.5212, score_diff: -1.7581, il_win: 76.0000, rl_win: 423.2000
2025-09-24 16:46:31,371 - mmdet - INFO - Epoch [20][2600/3517]	lr: 5.211e-06, eta: 3:20:43, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1783, debug_std_frame_0: 0.2120, debug_std_frame_1: 0.2315, debug_std_frame_2: 0.2826, debug_std_frame_3: 0.3342, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4472, loss_rl: -0.2467, loss_critic: 1.3145, loss_rl_bc: 0.0107, il_score: 0.6775, rl_score: 0.6999, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.4832, grad_norm: 44.1545, il_score_sum: 66.7631, rl_score_sum: 68.5212, score_diff: -1.7581, il_win: 76.0000, rl_win: 423.2000
2025-09-24 16:46:47,288 - mmdet - INFO - Epoch [20][2620/3517]	lr: 5.211e-06, eta: 3:20:27, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1848, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2321, debug_std_frame_2: 0.2884, debug_std_frame_3: 0.3420, debug_std_frame_4: 0.3987, debug_std_frame_5: 0.4565, loss_rl: -0.2201, loss_critic: 1.2547, loss_rl_bc: 0.0096, il_score: 0.6428, rl_score: 0.6582, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.4518, grad_norm: 49.6194, il_score_sum: 66.7631, rl_score_sum: 68.5212, score_diff: -1.7581, il_win: 76.0000, rl_win: 423.2000
2025-09-24 16:47:03,197 - mmdet - INFO - Epoch [20][2640/3517]	lr: 5.211e-06, eta: 3:20:11, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1446, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2791, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3831, debug_std_frame_5: 0.4378, loss_rl: -0.2664, loss_critic: 1.2645, loss_rl_bc: 0.0007, il_score: 0.6502, rl_score: 0.6923, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.3518, grad_norm: 38.0117, il_score_sum: 66.7631, rl_score_sum: 68.5212, score_diff: -1.7581, il_win: 76.0000, rl_win: 423.2000
2025-09-24 16:47:19,157 - mmdet - INFO - Epoch [20][2660/3517]	lr: 5.211e-06, eta: 3:19:55, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1713, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2797, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4388, loss_rl: -0.2588, loss_critic: 1.2693, loss_rl_bc: 0.0063, il_score: 0.6760, rl_score: 0.6813, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.3942, grad_norm: 56.4572, il_score_sum: 66.7631, rl_score_sum: 68.5212, score_diff: -1.7581, il_win: 76.0000, rl_win: 423.2000
2025-09-24 16:47:37,948 - mmdet - INFO - Epoch [20][2680/3517]	lr: 5.211e-06, eta: 3:19:40, time: 0.940, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1471, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3274, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4287, loss_rl: -0.2923, loss_critic: 1.1460, loss_rl_bc: 0.0002, il_score: 0.6870, rl_score: 0.6997, prev_frame_loss_waypoint_0: 0.1607, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.1915, grad_norm: 33.6898, il_score_sum: 66.6955, rl_score_sum: 68.4698, score_diff: -1.7743, il_win: 76.0000, rl_win: 424.1000
2025-09-24 16:47:53,823 - mmdet - INFO - Epoch [20][2700/3517]	lr: 5.211e-06, eta: 3:19:23, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1949, debug_std_frame_0: 0.2118, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2764, debug_std_frame_3: 0.3240, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4281, loss_rl: -0.2925, loss_critic: 1.1329, loss_rl_bc: 0.0252, il_score: 0.6643, rl_score: 0.6954, prev_frame_loss_waypoint_0: 0.2001, prev_frame_loss_rl_bc_0: 0.0315, loss: 1.3197, grad_norm: 40.0396, il_score_sum: 66.6955, rl_score_sum: 68.4698, score_diff: -1.7743, il_win: 76.0000, rl_win: 424.1000
2025-09-24 16:48:09,731 - mmdet - INFO - Epoch [20][2720/3517]	lr: 5.211e-06, eta: 3:19:07, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1690, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2818, debug_std_frame_3: 0.3335, debug_std_frame_4: 0.3880, debug_std_frame_5: 0.4407, loss_rl: -0.2303, loss_critic: 1.4995, loss_rl_bc: 0.0085, il_score: 0.6378, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.1927, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.6764, grad_norm: 36.3039, il_score_sum: 66.6955, rl_score_sum: 68.4698, score_diff: -1.7743, il_win: 76.0000, rl_win: 424.1000
2025-09-24 16:48:25,757 - mmdet - INFO - Epoch [20][2740/3517]	lr: 5.211e-06, eta: 3:18:51, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1637, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2339, debug_std_frame_2: 0.2878, debug_std_frame_3: 0.3374, debug_std_frame_4: 0.3898, debug_std_frame_5: 0.4429, loss_rl: -0.2859, loss_critic: 1.4337, loss_rl_bc: 0.0027, il_score: 0.6641, rl_score: 0.6773, prev_frame_loss_waypoint_0: 0.1907, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.5392, grad_norm: 51.2194, il_score_sum: 66.6955, rl_score_sum: 68.4698, score_diff: -1.7743, il_win: 76.0000, rl_win: 424.1000
2025-09-24 16:48:41,700 - mmdet - INFO - Epoch [20][2760/3517]	lr: 5.211e-06, eta: 3:18:35, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1803, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2326, debug_std_frame_2: 0.2843, debug_std_frame_3: 0.3330, debug_std_frame_4: 0.3840, debug_std_frame_5: 0.4361, loss_rl: -0.2440, loss_critic: 1.4881, loss_rl_bc: 0.0097, il_score: 0.6369, rl_score: 0.6571, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.6532, grad_norm: 42.2362, il_score_sum: 66.6955, rl_score_sum: 68.4698, score_diff: -1.7743, il_win: 76.0000, rl_win: 424.1000
2025-09-24 16:48:57,849 - mmdet - INFO - Epoch [20][2780/3517]	lr: 5.211e-06, eta: 3:18:19, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1774, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2352, debug_std_frame_2: 0.2836, debug_std_frame_3: 0.3300, debug_std_frame_4: 0.3780, debug_std_frame_5: 0.4294, loss_rl: -0.2687, loss_critic: 1.3010, loss_rl_bc: 0.0092, il_score: 0.6586, rl_score: 0.6903, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0192, loss: 1.4543, grad_norm: 42.1896, il_score_sum: 66.6294, rl_score_sum: 68.4346, score_diff: -1.8052, il_win: 76.0000, rl_win: 425.0000
2025-09-24 16:49:13,696 - mmdet - INFO - Epoch [20][2800/3517]	lr: 5.211e-06, eta: 3:18:03, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1641, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2388, debug_std_frame_2: 0.2879, debug_std_frame_3: 0.3336, debug_std_frame_4: 0.3852, debug_std_frame_5: 0.4353, loss_rl: -0.2837, loss_critic: 1.4424, loss_rl_bc: 0.0049, il_score: 0.6771, rl_score: 0.7126, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.5412, grad_norm: 39.8776, il_score_sum: 66.6294, rl_score_sum: 68.4346, score_diff: -1.8052, il_win: 76.0000, rl_win: 425.0000
2025-09-24 16:49:29,871 - mmdet - INFO - Epoch [20][2820/3517]	lr: 5.211e-06, eta: 3:17:47, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1610, debug_std_frame_0: 0.2122, debug_std_frame_1: 0.2410, debug_std_frame_2: 0.2947, debug_std_frame_3: 0.3439, debug_std_frame_4: 0.3978, debug_std_frame_5: 0.4527, loss_rl: -0.2612, loss_critic: 1.9893, loss_rl_bc: 0.0071, il_score: 0.6293, rl_score: 0.6314, prev_frame_loss_waypoint_0: 0.1668, prev_frame_loss_rl_bc_0: 0.0065, loss: 2.0947, grad_norm: 45.0687, il_score_sum: 66.6294, rl_score_sum: 68.4346, score_diff: -1.8052, il_win: 76.0000, rl_win: 425.0000
2025-09-24 16:49:45,894 - mmdet - INFO - Epoch [20][2840/3517]	lr: 5.211e-06, eta: 3:17:31, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1619, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2352, debug_std_frame_2: 0.2837, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3785, debug_std_frame_5: 0.4273, loss_rl: -0.2662, loss_critic: 1.2936, loss_rl_bc: 0.0039, il_score: 0.6471, rl_score: 0.6745, prev_frame_loss_waypoint_0: 0.1679, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.3904, grad_norm: 39.0235, il_score_sum: 66.6294, rl_score_sum: 68.4346, score_diff: -1.8052, il_win: 76.0000, rl_win: 425.0000
2025-09-24 16:50:01,921 - mmdet - INFO - Epoch [20][2860/3517]	lr: 5.211e-06, eta: 3:17:15, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1829, debug_std_frame_0: 0.2128, debug_std_frame_1: 0.2379, debug_std_frame_2: 0.2881, debug_std_frame_3: 0.3373, debug_std_frame_4: 0.3863, debug_std_frame_5: 0.4409, loss_rl: -0.2594, loss_critic: 1.3288, loss_rl_bc: 0.0079, il_score: 0.6541, rl_score: 0.6916, prev_frame_loss_waypoint_0: 0.1837, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.4787, grad_norm: 40.9806, il_score_sum: 66.6294, rl_score_sum: 68.4346, score_diff: -1.8052, il_win: 76.0000, rl_win: 425.0000
2025-09-24 16:50:18,016 - mmdet - INFO - Epoch [20][2880/3517]	lr: 5.211e-06, eta: 3:16:59, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1663, debug_std_frame_0: 0.2110, debug_std_frame_1: 0.2350, debug_std_frame_2: 0.2882, debug_std_frame_3: 0.3387, debug_std_frame_4: 0.3915, debug_std_frame_5: 0.4465, loss_rl: -0.2810, loss_critic: 1.1407, loss_rl_bc: 0.0051, il_score: 0.6781, rl_score: 0.7027, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.2482, grad_norm: 36.0052, il_score_sum: 66.5659, rl_score_sum: 68.4141, score_diff: -1.8482, il_win: 76.0000, rl_win: 425.9000
2025-09-24 16:50:33,916 - mmdet - INFO - Epoch [20][2900/3517]	lr: 5.211e-06, eta: 3:16:43, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1661, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2343, debug_std_frame_2: 0.2848, debug_std_frame_3: 0.3344, debug_std_frame_4: 0.3858, debug_std_frame_5: 0.4392, loss_rl: -0.3080, loss_critic: 1.4437, loss_rl_bc: 0.0077, il_score: 0.6669, rl_score: 0.6912, prev_frame_loss_waypoint_0: 0.1774, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.5172, grad_norm: 44.6992, il_score_sum: 66.5659, rl_score_sum: 68.4141, score_diff: -1.8482, il_win: 76.0000, rl_win: 425.9000
2025-09-24 16:50:50,084 - mmdet - INFO - Epoch [20][2920/3517]	lr: 5.211e-06, eta: 3:16:27, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1488, debug_std_frame_0: 0.2103, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2820, debug_std_frame_3: 0.3317, debug_std_frame_4: 0.3838, debug_std_frame_5: 0.4379, loss_rl: -0.2618, loss_critic: 1.7049, loss_rl_bc: 0.0027, il_score: 0.6324, rl_score: 0.6602, prev_frame_loss_waypoint_0: 0.1592, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.7810, grad_norm: 44.6388, il_score_sum: 66.5659, rl_score_sum: 68.4141, score_diff: -1.8482, il_win: 76.0000, rl_win: 425.9000
2025-09-24 16:51:06,359 - mmdet - INFO - Epoch [20][2940/3517]	lr: 5.211e-06, eta: 3:16:11, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1446, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2287, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3198, debug_std_frame_4: 0.3658, debug_std_frame_5: 0.4138, loss_rl: -0.2817, loss_critic: 1.3673, loss_rl_bc: -0.0003, il_score: 0.6960, rl_score: 0.6999, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.4532, grad_norm: 44.7239, il_score_sum: 66.5659, rl_score_sum: 68.4141, score_diff: -1.8482, il_win: 76.0000, rl_win: 425.9000
2025-09-24 16:51:22,246 - mmdet - INFO - Epoch [20][2960/3517]	lr: 5.211e-06, eta: 3:15:54, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1802, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2323, debug_std_frame_2: 0.2809, debug_std_frame_3: 0.3292, debug_std_frame_4: 0.3803, debug_std_frame_5: 0.4359, loss_rl: -0.2474, loss_critic: 1.0281, loss_rl_bc: 0.0063, il_score: 0.6967, rl_score: 0.7114, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0113, loss: 1.1796, grad_norm: 47.1216, il_score_sum: 66.5659, rl_score_sum: 68.4141, score_diff: -1.8482, il_win: 76.0000, rl_win: 425.9000
2025-09-24 16:51:38,440 - mmdet - INFO - Epoch [20][2980/3517]	lr: 5.211e-06, eta: 3:15:38, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0278, loss_waypoint: 0.1691, debug_std_frame_0: 0.2105, debug_std_frame_1: 0.2354, debug_std_frame_2: 0.2857, debug_std_frame_3: 0.3312, debug_std_frame_4: 0.3814, debug_std_frame_5: 0.4362, loss_rl: -0.2677, loss_critic: 1.3890, loss_rl_bc: 0.0067, il_score: 0.6881, rl_score: 0.7025, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.5205, grad_norm: 41.3068, il_score_sum: 66.5861, rl_score_sum: 68.4538, score_diff: -1.8676, il_win: 76.0000, rl_win: 426.8000
2025-09-24 16:51:54,420 - mmdet - INFO - Epoch [20][3000/3517]	lr: 5.211e-06, eta: 3:15:22, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1726, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2300, debug_std_frame_2: 0.2817, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3812, debug_std_frame_5: 0.4346, loss_rl: -0.2460, loss_critic: 1.2427, loss_rl_bc: 0.0089, il_score: 0.6824, rl_score: 0.6914, prev_frame_loss_waypoint_0: 0.1714, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.3800, grad_norm: 50.8877, il_score_sum: 66.5861, rl_score_sum: 68.4538, score_diff: -1.8676, il_win: 76.0000, rl_win: 426.8000
2025-09-24 16:52:10,509 - mmdet - INFO - Epoch [20][3020/3517]	lr: 5.211e-06, eta: 3:15:06, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1564, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3723, debug_std_frame_5: 0.4251, loss_rl: -0.2643, loss_critic: 1.4636, loss_rl_bc: 0.0030, il_score: 0.6635, rl_score: 0.6569, prev_frame_loss_waypoint_0: 0.1703, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.5584, grad_norm: 32.3352, il_score_sum: 66.5861, rl_score_sum: 68.4538, score_diff: -1.8676, il_win: 76.0000, rl_win: 426.8000
2025-09-24 16:52:26,476 - mmdet - INFO - Epoch [20][3040/3517]	lr: 5.211e-06, eta: 3:14:50, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1459, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2783, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4305, loss_rl: -0.2817, loss_critic: 1.6499, loss_rl_bc: 0.0013, il_score: 0.6428, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1833, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.7321, grad_norm: 49.1914, il_score_sum: 66.5861, rl_score_sum: 68.4538, score_diff: -1.8676, il_win: 76.0000, rl_win: 426.8000
2025-09-24 16:52:42,430 - mmdet - INFO - Epoch [20][3060/3517]	lr: 5.211e-06, eta: 3:14:34, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1544, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2739, debug_std_frame_3: 0.3246, debug_std_frame_4: 0.3755, debug_std_frame_5: 0.4304, loss_rl: -0.2829, loss_critic: 1.1106, loss_rl_bc: -0.0002, il_score: 0.7167, rl_score: 0.7141, prev_frame_loss_waypoint_0: 0.1730, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.1841, grad_norm: 45.3223, il_score_sum: 66.5861, rl_score_sum: 68.4538, score_diff: -1.8676, il_win: 76.0000, rl_win: 426.8000
2025-09-24 16:52:58,516 - mmdet - INFO - Epoch [20][3080/3517]	lr: 5.211e-06, eta: 3:14:18, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1677, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3732, debug_std_frame_5: 0.4307, loss_rl: -0.2731, loss_critic: 1.4058, loss_rl_bc: 0.0067, il_score: 0.6360, rl_score: 0.6471, prev_frame_loss_waypoint_0: 0.1593, prev_frame_loss_rl_bc_0: 0.0012, loss: 1.4945, grad_norm: 39.9645, il_score_sum: 66.4834, rl_score_sum: 68.3638, score_diff: -1.8804, il_win: 76.0000, rl_win: 427.7000
2025-09-24 16:53:14,523 - mmdet - INFO - Epoch [20][3100/3517]	lr: 5.211e-06, eta: 3:14:02, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1862, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3789, debug_std_frame_5: 0.4323, loss_rl: -0.2624, loss_critic: 1.2524, loss_rl_bc: 0.0090, il_score: 0.6608, rl_score: 0.6890, prev_frame_loss_waypoint_0: 0.1884, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.4049, grad_norm: 37.2146, il_score_sum: 66.4834, rl_score_sum: 68.3638, score_diff: -1.8804, il_win: 76.0000, rl_win: 427.7000
2025-09-24 16:53:30,535 - mmdet - INFO - Epoch [20][3120/3517]	lr: 5.211e-06, eta: 3:13:46, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1658, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3214, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4250, loss_rl: -0.2628, loss_critic: 1.2950, loss_rl_bc: 0.0072, il_score: 0.6531, rl_score: 0.6924, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.4070, grad_norm: 40.8520, il_score_sum: 66.4834, rl_score_sum: 68.3638, score_diff: -1.8804, il_win: 76.0000, rl_win: 427.7000
2025-09-24 16:53:46,838 - mmdet - INFO - Epoch [20][3140/3517]	lr: 5.211e-06, eta: 3:13:30, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1631, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3803, debug_std_frame_5: 0.4364, loss_rl: -0.2509, loss_critic: 1.3122, loss_rl_bc: 0.0058, il_score: 0.6529, rl_score: 0.6763, prev_frame_loss_waypoint_0: 0.1789, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.4407, grad_norm: 35.3168, il_score_sum: 66.4834, rl_score_sum: 68.3638, score_diff: -1.8804, il_win: 76.0000, rl_win: 427.7000
2025-09-24 16:54:03,048 - mmdet - INFO - Epoch [20][3160/3517]	lr: 5.211e-06, eta: 3:13:14, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1572, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3707, debug_std_frame_5: 0.4234, loss_rl: -0.2450, loss_critic: 1.4823, loss_rl_bc: 0.0056, il_score: 0.6582, rl_score: 0.6525, prev_frame_loss_waypoint_0: 0.1605, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.5904, grad_norm: 45.2423, il_score_sum: 66.4834, rl_score_sum: 68.3638, score_diff: -1.8804, il_win: 76.0000, rl_win: 427.7000
2025-09-24 16:54:19,348 - mmdet - INFO - Epoch [20][3180/3517]	lr: 5.211e-06, eta: 3:12:58, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1775, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2698, debug_std_frame_3: 0.3178, debug_std_frame_4: 0.3655, debug_std_frame_5: 0.4150, loss_rl: -0.2917, loss_critic: 1.2317, loss_rl_bc: 0.0098, il_score: 0.6613, rl_score: 0.6893, prev_frame_loss_waypoint_0: 0.1690, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.3267, grad_norm: 45.5575, il_score_sum: 66.4837, rl_score_sum: 68.3986, score_diff: -1.9149, il_win: 76.0000, rl_win: 428.6000
2025-09-24 16:54:35,337 - mmdet - INFO - Epoch [20][3200/3517]	lr: 5.211e-06, eta: 3:12:42, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1741, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2786, debug_std_frame_3: 0.3319, debug_std_frame_4: 0.3824, debug_std_frame_5: 0.4350, loss_rl: -0.2453, loss_critic: 1.1592, loss_rl_bc: 0.0052, il_score: 0.6910, rl_score: 0.7014, prev_frame_loss_waypoint_0: 0.1730, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.2961, grad_norm: 40.4695, il_score_sum: 66.4837, rl_score_sum: 68.3986, score_diff: -1.9149, il_win: 76.0000, rl_win: 428.6000
2025-09-24 16:54:51,294 - mmdet - INFO - Epoch [20][3220/3517]	lr: 5.211e-06, eta: 3:12:25, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1659, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2769, debug_std_frame_3: 0.3267, debug_std_frame_4: 0.3776, debug_std_frame_5: 0.4299, loss_rl: -0.2782, loss_critic: 1.2852, loss_rl_bc: 0.0051, il_score: 0.6842, rl_score: 0.6874, prev_frame_loss_waypoint_0: 0.1704, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3776, grad_norm: 38.3967, il_score_sum: 66.4837, rl_score_sum: 68.3986, score_diff: -1.9149, il_win: 76.0000, rl_win: 428.6000
2025-09-24 16:55:07,614 - mmdet - INFO - Epoch [20][3240/3517]	lr: 5.211e-06, eta: 3:12:09, time: 0.817, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1807, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3818, debug_std_frame_5: 0.4334, loss_rl: -0.2454, loss_critic: 1.3548, loss_rl_bc: 0.0095, il_score: 0.6535, rl_score: 0.6529, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5164, grad_norm: 47.8003, il_score_sum: 66.4837, rl_score_sum: 68.3986, score_diff: -1.9149, il_win: 76.0000, rl_win: 428.6000
2025-09-24 16:55:23,680 - mmdet - INFO - Epoch [20][3260/3517]	lr: 5.211e-06, eta: 3:11:53, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1676, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2774, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4231, loss_rl: -0.2373, loss_critic: 1.6345, loss_rl_bc: 0.0069, il_score: 0.6633, rl_score: 0.6502, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.7928, grad_norm: 36.4999, il_score_sum: 66.4837, rl_score_sum: 68.3986, score_diff: -1.9149, il_win: 76.0000, rl_win: 428.6000
2025-09-24 16:55:39,783 - mmdet - INFO - Epoch [20][3280/3517]	lr: 5.211e-06, eta: 3:11:37, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1578, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2782, debug_std_frame_3: 0.3293, debug_std_frame_4: 0.3784, debug_std_frame_5: 0.4318, loss_rl: -0.2474, loss_critic: 1.3959, loss_rl_bc: 0.0055, il_score: 0.6794, rl_score: 0.6714, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.5136, grad_norm: 42.3521, il_score_sum: 66.5224, rl_score_sum: 68.3035, score_diff: -1.7811, il_win: 76.0000, rl_win: 429.4500
2025-09-24 16:55:55,570 - mmdet - INFO - Epoch [20][3300/3517]	lr: 5.211e-06, eta: 3:11:21, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1632, debug_std_frame_0: 0.2109, debug_std_frame_1: 0.2298, debug_std_frame_2: 0.2793, debug_std_frame_3: 0.3265, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4303, loss_rl: -0.2823, loss_critic: 1.2212, loss_rl_bc: 0.0039, il_score: 0.6703, rl_score: 0.6914, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.3091, grad_norm: 43.6825, il_score_sum: 66.5224, rl_score_sum: 68.3035, score_diff: -1.7811, il_win: 76.0000, rl_win: 429.4500
2025-09-24 16:56:11,737 - mmdet - INFO - Epoch [20][3320/3517]	lr: 5.211e-06, eta: 3:11:05, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1856, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2835, debug_std_frame_3: 0.3377, debug_std_frame_4: 0.3888, debug_std_frame_5: 0.4427, loss_rl: -0.2702, loss_critic: 1.0598, loss_rl_bc: 0.0098, il_score: 0.6626, rl_score: 0.6933, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.2041, grad_norm: 51.6014, il_score_sum: 66.5224, rl_score_sum: 68.3035, score_diff: -1.7811, il_win: 76.0000, rl_win: 429.4500
2025-09-24 16:56:27,820 - mmdet - INFO - Epoch [20][3340/3517]	lr: 5.211e-06, eta: 3:10:49, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1913, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2325, debug_std_frame_2: 0.2901, debug_std_frame_3: 0.3460, debug_std_frame_4: 0.4021, debug_std_frame_5: 0.4596, loss_rl: -0.2009, loss_critic: 1.4427, loss_rl_bc: 0.0118, il_score: 0.6420, rl_score: 0.6507, prev_frame_loss_waypoint_0: 0.1980, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.6795, grad_norm: 46.4402, il_score_sum: 66.5224, rl_score_sum: 68.3035, score_diff: -1.7811, il_win: 76.0000, rl_win: 429.4500
2025-09-24 16:56:43,789 - mmdet - INFO - Epoch [20][3360/3517]	lr: 5.211e-06, eta: 3:10:33, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1528, debug_std_frame_0: 0.2104, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2862, debug_std_frame_3: 0.3425, debug_std_frame_4: 0.3955, debug_std_frame_5: 0.4517, loss_rl: -0.2608, loss_critic: 1.4292, loss_rl_bc: 0.0083, il_score: 0.6758, rl_score: 0.6847, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5288, grad_norm: 40.7980, il_score_sum: 66.5224, rl_score_sum: 68.3035, score_diff: -1.7811, il_win: 76.0000, rl_win: 429.4500
2025-09-24 16:56:59,810 - mmdet - INFO - Epoch [20][3380/3517]	lr: 5.211e-06, eta: 3:10:17, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1693, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4286, loss_rl: -0.2765, loss_critic: 1.1073, loss_rl_bc: 0.0059, il_score: 0.6764, rl_score: 0.6953, prev_frame_loss_waypoint_0: 0.1689, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.2039, grad_norm: 31.8033, il_score_sum: 66.4856, rl_score_sum: 68.2838, score_diff: -1.7982, il_win: 76.0000, rl_win: 430.3000
2025-09-24 16:57:15,742 - mmdet - INFO - Epoch [20][3400/3517]	lr: 5.211e-06, eta: 3:10:01, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1575, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2693, debug_std_frame_3: 0.3204, debug_std_frame_4: 0.3723, debug_std_frame_5: 0.4241, loss_rl: -0.2865, loss_critic: 1.3875, loss_rl_bc: 0.0050, il_score: 0.6779, rl_score: 0.6769, prev_frame_loss_waypoint_0: 0.1563, prev_frame_loss_rl_bc_0: 0.0007, loss: 1.4453, grad_norm: 35.5532, il_score_sum: 66.4856, rl_score_sum: 68.2838, score_diff: -1.7982, il_win: 76.0000, rl_win: 430.3000
2025-09-24 16:57:32,060 - mmdet - INFO - Epoch [20][3420/3517]	lr: 5.211e-06, eta: 3:09:45, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1455, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2644, debug_std_frame_3: 0.3141, debug_std_frame_4: 0.3628, debug_std_frame_5: 0.4155, loss_rl: -0.2944, loss_critic: 1.3458, loss_rl_bc: 0.0014, il_score: 0.6600, rl_score: 0.7174, prev_frame_loss_waypoint_0: 0.1474, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.3721, grad_norm: 36.7186, il_score_sum: 66.4856, rl_score_sum: 68.2838, score_diff: -1.7982, il_win: 76.0000, rl_win: 430.3000
2025-09-24 16:57:48,149 - mmdet - INFO - Epoch [20][3440/3517]	lr: 5.211e-06, eta: 3:09:29, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1661, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3174, debug_std_frame_4: 0.3688, debug_std_frame_5: 0.4249, loss_rl: -0.2436, loss_critic: 1.1898, loss_rl_bc: 0.0082, il_score: 0.6659, rl_score: 0.6879, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.3418, grad_norm: 30.3113, il_score_sum: 66.4856, rl_score_sum: 68.2838, score_diff: -1.7982, il_win: 76.0000, rl_win: 430.3000
2025-09-24 16:58:04,113 - mmdet - INFO - Epoch [20][3460/3517]	lr: 5.211e-06, eta: 3:09:13, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1630, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4296, loss_rl: -0.2915, loss_critic: 1.1403, loss_rl_bc: 0.0045, il_score: 0.6810, rl_score: 0.6974, prev_frame_loss_waypoint_0: 0.1811, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.2339, grad_norm: 41.9152, il_score_sum: 66.4856, rl_score_sum: 68.2838, score_diff: -1.7982, il_win: 76.0000, rl_win: 430.3000
2025-09-24 16:58:20,411 - mmdet - INFO - Epoch [20][3480/3517]	lr: 5.211e-06, eta: 3:08:56, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1649, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4300, loss_rl: -0.2547, loss_critic: 1.3471, loss_rl_bc: 0.0049, il_score: 0.6621, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.4591, grad_norm: 42.0638, il_score_sum: 66.5048, rl_score_sum: 68.2537, score_diff: -1.7489, il_win: 76.0000, rl_win: 431.1500
2025-09-24 16:58:36,308 - mmdet - INFO - Epoch [20][3500/3517]	lr: 5.211e-06, eta: 3:08:40, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1601, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3241, debug_std_frame_4: 0.3768, debug_std_frame_5: 0.4309, loss_rl: -0.2659, loss_critic: 1.5394, loss_rl_bc: 0.0071, il_score: 0.6310, rl_score: 0.6537, prev_frame_loss_waypoint_0: 0.1658, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.6331, grad_norm: 38.9580, il_score_sum: 66.5048, rl_score_sum: 68.2537, score_diff: -1.7489, il_win: 76.0000, rl_win: 431.1500
2025-09-24 16:58:49,424 - mmdet - INFO - Saving checkpoint at 20 epochs
2025-09-24 17:01:22,057 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 17:01:22,058 - mmdet - INFO - Epoch(val) [20][753]	plan_L2_1s: 0.3347, plan_L2_2s: 0.6541, plan_L2_3s: 1.0798, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0055, plan_obj_box_col_2s: 0.0061, plan_obj_box_col_3s: 0.0100, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3529, plan_L2_2s_rl_actor: 0.6817, plan_L2_3s_rl_actor: 1.1134, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0000, plan_obj_box_col_1s_rl_actor: 0.0090, plan_obj_box_col_2s_rl_actor: 0.0090, plan_obj_box_col_3s_rl_actor: 0.0125, fut_valid_flag_rl_actor: 1.0000
2025-09-24 17:01:48,567 - mmdet - INFO - Epoch [21][20/3517]	lr: 3.396e-06, eta: 3:08:10, time: 1.324, data_time: 0.319, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1562, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3815, debug_std_frame_5: 0.4365, loss_rl: -0.2900, loss_critic: 1.4360, loss_rl_bc: 0.0055, il_score: 0.6603, rl_score: 0.6849, prev_frame_loss_waypoint_0: 0.1667, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.5074, grad_norm: 40.9479
2025-09-24 17:02:05,294 - mmdet - INFO - Epoch [21][40/3517]	lr: 3.396e-06, eta: 3:07:54, time: 0.836, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1745, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4306, loss_rl: -0.2902, loss_critic: 1.3410, loss_rl_bc: 0.0059, il_score: 0.6482, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.4439, grad_norm: 35.5198
2025-09-24 17:02:22,159 - mmdet - INFO - Epoch [21][60/3517]	lr: 3.396e-06, eta: 3:07:38, time: 0.844, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1681, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4327, loss_rl: -0.2721, loss_critic: 1.1999, loss_rl_bc: 0.0043, il_score: 0.6846, rl_score: 0.7091, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.2966, grad_norm: 43.2566, il_score_sum: 65.1993, rl_score_sum: 67.5873, score_diff: -2.3880, il_win: 76.0000, rl_win: 440.0000
2025-09-24 17:02:38,419 - mmdet - INFO - Epoch [21][80/3517]	lr: 3.396e-06, eta: 3:07:22, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1354, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2642, debug_std_frame_3: 0.3127, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4154, loss_rl: -0.2702, loss_critic: 1.7323, loss_rl_bc: -0.0011, il_score: 0.6856, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1535, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.7759, grad_norm: 46.7832, il_score_sum: 65.1993, rl_score_sum: 67.5873, score_diff: -2.3880, il_win: 76.0000, rl_win: 440.0000
2025-09-24 17:02:55,027 - mmdet - INFO - Epoch [21][100/3517]	lr: 3.396e-06, eta: 3:07:06, time: 0.830, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1572, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2626, debug_std_frame_3: 0.3103, debug_std_frame_4: 0.3562, debug_std_frame_5: 0.4082, loss_rl: -0.2578, loss_critic: 1.5447, loss_rl_bc: 0.0051, il_score: 0.6515, rl_score: 0.6713, prev_frame_loss_waypoint_0: 0.1807, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.6645, grad_norm: 38.3424, il_score_sum: 65.1993, rl_score_sum: 67.5873, score_diff: -2.3880, il_win: 76.0000, rl_win: 440.0000
2025-09-24 17:03:11,517 - mmdet - INFO - Epoch [21][120/3517]	lr: 3.396e-06, eta: 3:06:50, time: 0.824, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1639, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3727, debug_std_frame_5: 0.4286, loss_rl: -0.2638, loss_critic: 1.2576, loss_rl_bc: 0.0083, il_score: 0.6590, rl_score: 0.6731, prev_frame_loss_waypoint_0: 0.1761, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3721, grad_norm: 37.4724, il_score_sum: 65.1993, rl_score_sum: 67.5873, score_diff: -2.3880, il_win: 76.0000, rl_win: 440.0000
2025-09-24 17:03:27,858 - mmdet - INFO - Epoch [21][140/3517]	lr: 3.396e-06, eta: 3:06:34, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1483, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3702, debug_std_frame_5: 0.4257, loss_rl: -0.2885, loss_critic: 1.5536, loss_rl_bc: 0.0015, il_score: 0.6894, rl_score: 0.6941, prev_frame_loss_waypoint_0: 0.1483, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.5899, grad_norm: 36.9593, il_score_sum: 65.1993, rl_score_sum: 67.5873, score_diff: -2.3880, il_win: 76.0000, rl_win: 440.0000
2025-09-24 17:03:46,410 - mmdet - INFO - Epoch [21][160/3517]	lr: 3.396e-06, eta: 3:06:19, time: 0.928, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1546, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2673, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3692, debug_std_frame_5: 0.4205, loss_rl: -0.3072, loss_critic: 1.3443, loss_rl_bc: 0.0035, il_score: 0.6565, rl_score: 0.6822, prev_frame_loss_waypoint_0: 0.1760, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.4029, grad_norm: 41.1875, il_score_sum: 66.0216, rl_score_sum: 67.8120, score_diff: -1.7904, il_win: 76.0000, rl_win: 440.5000
2025-09-24 17:04:02,541 - mmdet - INFO - Epoch [21][180/3517]	lr: 3.396e-06, eta: 3:06:02, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1435, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2746, debug_std_frame_3: 0.3274, debug_std_frame_4: 0.3809, debug_std_frame_5: 0.4354, loss_rl: -0.2694, loss_critic: 1.1823, loss_rl_bc: 0.0012, il_score: 0.6857, rl_score: 0.7032, prev_frame_loss_waypoint_0: 0.1683, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.2549, grad_norm: 45.0611, il_score_sum: 66.0216, rl_score_sum: 67.8120, score_diff: -1.7904, il_win: 76.0000, rl_win: 440.5000
2025-09-24 17:04:18,861 - mmdet - INFO - Epoch [21][200/3517]	lr: 3.396e-06, eta: 3:05:46, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1628, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3177, debug_std_frame_4: 0.3669, debug_std_frame_5: 0.4200, loss_rl: -0.2822, loss_critic: 1.4558, loss_rl_bc: 0.0034, il_score: 0.6781, rl_score: 0.6940, prev_frame_loss_waypoint_0: 0.1808, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.5519, grad_norm: 49.0958, il_score_sum: 66.0216, rl_score_sum: 67.8120, score_diff: -1.7904, il_win: 76.0000, rl_win: 440.5000
2025-09-24 17:04:35,146 - mmdet - INFO - Epoch [21][220/3517]	lr: 3.396e-06, eta: 3:05:30, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1701, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3242, debug_std_frame_4: 0.3776, debug_std_frame_5: 0.4322, loss_rl: -0.2685, loss_critic: 1.4289, loss_rl_bc: 0.0067, il_score: 0.6531, rl_score: 0.6874, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.5488, grad_norm: 48.9576, il_score_sum: 66.0216, rl_score_sum: 67.8120, score_diff: -1.7904, il_win: 76.0000, rl_win: 440.5000
2025-09-24 17:04:51,405 - mmdet - INFO - Epoch [21][240/3517]	lr: 3.396e-06, eta: 3:05:14, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1802, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4307, loss_rl: -0.2781, loss_critic: 1.2524, loss_rl_bc: 0.0104, il_score: 0.6669, rl_score: 0.6852, prev_frame_loss_waypoint_0: 0.1904, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.3925, grad_norm: 50.3180, il_score_sum: 66.0216, rl_score_sum: 67.8120, score_diff: -1.7904, il_win: 76.0000, rl_win: 440.5000
2025-09-24 17:05:08,153 - mmdet - INFO - Epoch [21][260/3517]	lr: 3.396e-06, eta: 3:04:58, time: 0.838, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1767, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4276, loss_rl: -0.2158, loss_critic: 1.3149, loss_rl_bc: 0.0083, il_score: 0.6552, rl_score: 0.6824, prev_frame_loss_waypoint_0: 0.1779, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.4943, grad_norm: 50.1236, il_score_sum: 66.2744, rl_score_sum: 68.2220, score_diff: -1.9476, il_win: 76.0000, rl_win: 441.0000
2025-09-24 17:05:24,201 - mmdet - INFO - Epoch [21][280/3517]	lr: 3.396e-06, eta: 3:04:42, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1510, debug_std_frame_0: 0.2030, debug_std_frame_1: 0.2185, debug_std_frame_2: 0.2672, debug_std_frame_3: 0.3199, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4300, loss_rl: -0.2770, loss_critic: 1.4473, loss_rl_bc: 0.0056, il_score: 0.6660, rl_score: 0.6790, prev_frame_loss_waypoint_0: 0.1678, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.5280, grad_norm: 44.6162, il_score_sum: 66.2744, rl_score_sum: 68.2220, score_diff: -1.9476, il_win: 76.0000, rl_win: 441.0000
2025-09-24 17:05:40,376 - mmdet - INFO - Epoch [21][300/3517]	lr: 3.396e-06, eta: 3:04:26, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0275, loss_waypoint: 0.1662, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2253, debug_std_frame_2: 0.2749, debug_std_frame_3: 0.3291, debug_std_frame_4: 0.3858, debug_std_frame_5: 0.4480, loss_rl: -0.2204, loss_critic: 1.3528, loss_rl_bc: 0.0049, il_score: 0.6649, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5184, grad_norm: 39.7758, il_score_sum: 66.2744, rl_score_sum: 68.2220, score_diff: -1.9476, il_win: 76.0000, rl_win: 441.0000
2025-09-24 17:05:56,611 - mmdet - INFO - Epoch [21][320/3517]	lr: 3.396e-06, eta: 3:04:10, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1657, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2695, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3719, debug_std_frame_5: 0.4244, loss_rl: -0.2894, loss_critic: 1.2474, loss_rl_bc: 0.0040, il_score: 0.6914, rl_score: 0.7023, prev_frame_loss_waypoint_0: 0.1606, prev_frame_loss_rl_bc_0: -0.0003, loss: 1.3138, grad_norm: 37.3614, il_score_sum: 66.2744, rl_score_sum: 68.2220, score_diff: -1.9476, il_win: 76.0000, rl_win: 441.0000
2025-09-24 17:06:12,931 - mmdet - INFO - Epoch [21][340/3517]	lr: 3.396e-06, eta: 3:03:54, time: 0.816, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1749, debug_std_frame_0: 0.2036, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4274, loss_rl: -0.2490, loss_critic: 1.5260, loss_rl_bc: 0.0052, il_score: 0.6644, rl_score: 0.6778, prev_frame_loss_waypoint_0: 0.1920, prev_frame_loss_rl_bc_0: 0.0116, loss: 1.6869, grad_norm: 44.9577, il_score_sum: 66.2744, rl_score_sum: 68.2220, score_diff: -1.9476, il_win: 76.0000, rl_win: 441.0000
2025-09-24 17:06:29,469 - mmdet - INFO - Epoch [21][360/3517]	lr: 3.396e-06, eta: 3:03:38, time: 0.827, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1713, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3824, debug_std_frame_5: 0.4398, loss_rl: -0.2691, loss_critic: 1.3471, loss_rl_bc: 0.0055, il_score: 0.6832, rl_score: 0.6925, prev_frame_loss_waypoint_0: 0.1773, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.4607, grad_norm: 41.2338, il_score_sum: 66.5558, rl_score_sum: 68.3050, score_diff: -1.7493, il_win: 76.0000, rl_win: 441.5000
2025-09-24 17:06:45,442 - mmdet - INFO - Epoch [21][380/3517]	lr: 3.396e-06, eta: 3:03:22, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1683, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3769, debug_std_frame_5: 0.4333, loss_rl: -0.2541, loss_critic: 1.2443, loss_rl_bc: 0.0054, il_score: 0.6654, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1765, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.3767, grad_norm: 39.7852, il_score_sum: 66.5558, rl_score_sum: 68.3050, score_diff: -1.7493, il_win: 76.0000, rl_win: 441.5000
2025-09-24 17:07:01,664 - mmdet - INFO - Epoch [21][400/3517]	lr: 3.396e-06, eta: 3:03:06, time: 0.811, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1706, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2754, debug_std_frame_3: 0.3316, debug_std_frame_4: 0.3898, debug_std_frame_5: 0.4507, loss_rl: -0.2246, loss_critic: 1.5589, loss_rl_bc: 0.0098, il_score: 0.6564, rl_score: 0.6743, prev_frame_loss_waypoint_0: 0.1888, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.7370, grad_norm: 41.3554, il_score_sum: 66.5558, rl_score_sum: 68.3050, score_diff: -1.7493, il_win: 76.0000, rl_win: 441.5000
2025-09-24 17:07:17,977 - mmdet - INFO - Epoch [21][420/3517]	lr: 3.396e-06, eta: 3:02:50, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1681, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2766, debug_std_frame_3: 0.3316, debug_std_frame_4: 0.3871, debug_std_frame_5: 0.4430, loss_rl: -0.2590, loss_critic: 1.2293, loss_rl_bc: 0.0068, il_score: 0.6626, rl_score: 0.6813, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.3686, grad_norm: 43.3155, il_score_sum: 66.5558, rl_score_sum: 68.3050, score_diff: -1.7493, il_win: 76.0000, rl_win: 441.5000
2025-09-24 17:07:34,131 - mmdet - INFO - Epoch [21][440/3517]	lr: 3.396e-06, eta: 3:02:34, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1643, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2764, debug_std_frame_3: 0.3300, debug_std_frame_4: 0.3860, debug_std_frame_5: 0.4399, loss_rl: -0.2920, loss_critic: 1.2515, loss_rl_bc: 0.0067, il_score: 0.6766, rl_score: 0.6640, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.3414, grad_norm: 31.8857, il_score_sum: 66.5558, rl_score_sum: 68.3050, score_diff: -1.7493, il_win: 76.0000, rl_win: 441.5000
2025-09-24 17:07:50,624 - mmdet - INFO - Epoch [21][460/3517]	lr: 3.396e-06, eta: 3:02:18, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1602, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3270, debug_std_frame_4: 0.3791, debug_std_frame_5: 0.4332, loss_rl: -0.2811, loss_critic: 1.4538, loss_rl_bc: 0.0042, il_score: 0.6655, rl_score: 0.6907, prev_frame_loss_waypoint_0: 0.1864, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.5569, grad_norm: 43.9993, il_score_sum: 66.5504, rl_score_sum: 68.1933, score_diff: -1.6429, il_win: 76.0000, rl_win: 442.0000
2025-09-24 17:08:06,661 - mmdet - INFO - Epoch [21][480/3517]	lr: 3.396e-06, eta: 3:02:02, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1487, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3220, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4262, loss_rl: -0.2866, loss_critic: 1.3418, loss_rl_bc: -0.0001, il_score: 0.6913, rl_score: 0.7086, prev_frame_loss_waypoint_0: 0.1672, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.4003, grad_norm: 34.5222, il_score_sum: 66.5504, rl_score_sum: 68.1933, score_diff: -1.6429, il_win: 76.0000, rl_win: 442.0000
2025-09-24 17:08:23,062 - mmdet - INFO - Epoch [21][500/3517]	lr: 3.396e-06, eta: 3:01:46, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1457, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2195, debug_std_frame_2: 0.2666, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3686, debug_std_frame_5: 0.4203, loss_rl: -0.2794, loss_critic: 1.1040, loss_rl_bc: -0.0011, il_score: 0.7061, rl_score: 0.7112, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.1653, grad_norm: 46.2363, il_score_sum: 66.5504, rl_score_sum: 68.1933, score_diff: -1.6429, il_win: 76.0000, rl_win: 442.0000
2025-09-24 17:08:39,157 - mmdet - INFO - Epoch [21][520/3517]	lr: 3.396e-06, eta: 3:01:30, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1694, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3291, debug_std_frame_4: 0.3844, debug_std_frame_5: 0.4417, loss_rl: -0.2476, loss_critic: 1.3101, loss_rl_bc: 0.0058, il_score: 0.6586, rl_score: 0.6682, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.4408, grad_norm: 38.6803, il_score_sum: 66.5504, rl_score_sum: 68.1933, score_diff: -1.6429, il_win: 76.0000, rl_win: 442.0000
2025-09-24 17:08:55,172 - mmdet - INFO - Epoch [21][540/3517]	lr: 3.396e-06, eta: 3:01:14, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1692, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2194, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4293, loss_rl: -0.2106, loss_critic: 1.4440, loss_rl_bc: 0.0086, il_score: 0.6165, rl_score: 0.6456, prev_frame_loss_waypoint_0: 0.1763, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.6200, grad_norm: 45.8807, il_score_sum: 66.5504, rl_score_sum: 68.1933, score_diff: -1.6429, il_win: 76.0000, rl_win: 442.0000
2025-09-24 17:09:11,525 - mmdet - INFO - Epoch [21][560/3517]	lr: 3.396e-06, eta: 3:00:58, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1469, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3710, debug_std_frame_5: 0.4267, loss_rl: -0.2788, loss_critic: 1.2679, loss_rl_bc: 0.0015, il_score: 0.6898, rl_score: 0.7009, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.3408, grad_norm: 44.3254, il_score_sum: 66.6661, rl_score_sum: 68.2759, score_diff: -1.6097, il_win: 76.0000, rl_win: 442.5000
2025-09-24 17:09:27,669 - mmdet - INFO - Epoch [21][580/3517]	lr: 3.396e-06, eta: 3:00:42, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1495, debug_std_frame_0: 0.2033, debug_std_frame_1: 0.2179, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4213, loss_rl: -0.3270, loss_critic: 1.3794, loss_rl_bc: 0.0032, il_score: 0.6877, rl_score: 0.7188, prev_frame_loss_waypoint_0: 0.1709, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.4056, grad_norm: 38.7546, il_score_sum: 66.6661, rl_score_sum: 68.2759, score_diff: -1.6097, il_win: 76.0000, rl_win: 442.5000
2025-09-24 17:09:44,006 - mmdet - INFO - Epoch [21][600/3517]	lr: 3.396e-06, eta: 3:00:26, time: 0.817, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1668, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2182, debug_std_frame_2: 0.2630, debug_std_frame_3: 0.3138, debug_std_frame_4: 0.3630, debug_std_frame_5: 0.4158, loss_rl: -0.2600, loss_critic: 1.1924, loss_rl_bc: 0.0052, il_score: 0.6780, rl_score: 0.6777, prev_frame_loss_waypoint_0: 0.1787, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.3158, grad_norm: 33.0201, il_score_sum: 66.6661, rl_score_sum: 68.2759, score_diff: -1.6097, il_win: 76.0000, rl_win: 442.5000
2025-09-24 17:10:00,161 - mmdet - INFO - Epoch [21][620/3517]	lr: 3.396e-06, eta: 3:00:10, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1622, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3246, debug_std_frame_4: 0.3782, debug_std_frame_5: 0.4356, loss_rl: -0.2512, loss_critic: 1.2819, loss_rl_bc: 0.0024, il_score: 0.6892, rl_score: 0.7087, prev_frame_loss_waypoint_0: 0.1683, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.3948, grad_norm: 34.7772, il_score_sum: 66.6661, rl_score_sum: 68.2759, score_diff: -1.6097, il_win: 76.0000, rl_win: 442.5000
2025-09-24 17:10:16,131 - mmdet - INFO - Epoch [21][640/3517]	lr: 3.396e-06, eta: 2:59:53, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1644, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3253, debug_std_frame_4: 0.3794, debug_std_frame_5: 0.4372, loss_rl: -0.2651, loss_critic: 1.6031, loss_rl_bc: 0.0090, il_score: 0.6450, rl_score: 0.6395, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.7144, grad_norm: 36.5628, il_score_sum: 66.6661, rl_score_sum: 68.2759, score_diff: -1.6097, il_win: 76.0000, rl_win: 442.5000
2025-09-24 17:10:33,044 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 17:10:33,044 - mmdet - INFO - Epoch [21][660/3517]	lr: 3.396e-06, eta: 2:59:38, time: 0.846, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1712, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3233, debug_std_frame_4: 0.3738, debug_std_frame_5: 0.4307, loss_rl: -0.2714, loss_critic: 1.3061, loss_rl_bc: 0.0075, il_score: 0.6702, rl_score: 0.7060, prev_frame_loss_waypoint_0: 0.1715, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.4145, grad_norm: 44.4301, il_score_sum: 66.7713, rl_score_sum: 68.3814, score_diff: -1.6101, il_win: 76.0000, rl_win: 443.0000
2025-09-24 17:10:49,189 - mmdet - INFO - Epoch [21][680/3517]	lr: 3.396e-06, eta: 2:59:21, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1729, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3720, debug_std_frame_5: 0.4297, loss_rl: -0.2573, loss_critic: 1.1300, loss_rl_bc: 0.0064, il_score: 0.6708, rl_score: 0.6932, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.2673, grad_norm: 43.1998, il_score_sum: 66.7713, rl_score_sum: 68.3814, score_diff: -1.6101, il_win: 76.0000, rl_win: 443.0000
2025-09-24 17:11:05,408 - mmdet - INFO - Epoch [21][700/3517]	lr: 3.396e-06, eta: 2:59:05, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1411, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3151, debug_std_frame_4: 0.3635, debug_std_frame_5: 0.4135, loss_rl: -0.2959, loss_critic: 1.2262, loss_rl_bc: -0.0006, il_score: 0.6818, rl_score: 0.7117, prev_frame_loss_waypoint_0: 0.1537, prev_frame_loss_rl_bc_0: -0.0010, loss: 1.2487, grad_norm: 30.4309, il_score_sum: 66.7713, rl_score_sum: 68.3814, score_diff: -1.6101, il_win: 76.0000, rl_win: 443.0000
2025-09-24 17:11:21,719 - mmdet - INFO - Epoch [21][720/3517]	lr: 3.396e-06, eta: 2:58:49, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1347, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2627, debug_std_frame_3: 0.3094, debug_std_frame_4: 0.3558, debug_std_frame_5: 0.4063, loss_rl: -0.3056, loss_critic: 1.4793, loss_rl_bc: -0.0002, il_score: 0.6902, rl_score: 0.6952, prev_frame_loss_waypoint_0: 0.1634, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.5016, grad_norm: 36.4398, il_score_sum: 66.7713, rl_score_sum: 68.3814, score_diff: -1.6101, il_win: 76.0000, rl_win: 443.0000
2025-09-24 17:11:38,079 - mmdet - INFO - Epoch [21][740/3517]	lr: 3.396e-06, eta: 2:58:33, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1777, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2650, debug_std_frame_3: 0.3156, debug_std_frame_4: 0.3660, debug_std_frame_5: 0.4208, loss_rl: -0.2510, loss_critic: 1.3939, loss_rl_bc: 0.0092, il_score: 0.6735, rl_score: 0.6709, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.5285, grad_norm: 39.4122, il_score_sum: 66.7713, rl_score_sum: 68.3814, score_diff: -1.6101, il_win: 76.0000, rl_win: 443.0000
2025-09-24 17:11:54,659 - mmdet - INFO - Epoch [21][760/3517]	lr: 3.396e-06, eta: 2:58:17, time: 0.829, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1448, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2636, debug_std_frame_3: 0.3111, debug_std_frame_4: 0.3619, debug_std_frame_5: 0.4148, loss_rl: -0.2830, loss_critic: 1.1604, loss_rl_bc: -0.0008, il_score: 0.6906, rl_score: 0.7009, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0156, loss: 1.2508, grad_norm: 31.3247, il_score_sum: 66.9422, rl_score_sum: 68.5134, score_diff: -1.5712, il_win: 76.0000, rl_win: 443.5000
2025-09-24 17:12:10,557 - mmdet - INFO - Epoch [21][780/3517]	lr: 3.396e-06, eta: 2:58:01, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1562, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4335, loss_rl: -0.2755, loss_critic: 1.0837, loss_rl_bc: 0.0007, il_score: 0.6625, rl_score: 0.6958, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.1714, grad_norm: 40.4735, il_score_sum: 66.9422, rl_score_sum: 68.5134, score_diff: -1.5712, il_win: 76.0000, rl_win: 443.5000
2025-09-24 17:12:26,705 - mmdet - INFO - Epoch [21][800/3517]	lr: 3.396e-06, eta: 2:57:45, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1439, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2664, debug_std_frame_3: 0.3156, debug_std_frame_4: 0.3635, debug_std_frame_5: 0.4161, loss_rl: -0.2918, loss_critic: 1.3743, loss_rl_bc: -0.0004, il_score: 0.6652, rl_score: 0.6924, prev_frame_loss_waypoint_0: 0.1653, prev_frame_loss_rl_bc_0: 0.0023, loss: 1.4198, grad_norm: 35.1575, il_score_sum: 66.9422, rl_score_sum: 68.5134, score_diff: -1.5712, il_win: 76.0000, rl_win: 443.5000
2025-09-24 17:12:43,147 - mmdet - INFO - Epoch [21][820/3517]	lr: 3.396e-06, eta: 2:57:29, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1499, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3684, debug_std_frame_5: 0.4255, loss_rl: -0.2661, loss_critic: 1.3263, loss_rl_bc: 0.0007, il_score: 0.6743, rl_score: 0.7048, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4243, grad_norm: 43.6370, il_score_sum: 66.9422, rl_score_sum: 68.5134, score_diff: -1.5712, il_win: 76.0000, rl_win: 443.5000
2025-09-24 17:12:59,243 - mmdet - INFO - Epoch [21][840/3517]	lr: 3.396e-06, eta: 2:57:13, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1764, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2722, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3824, debug_std_frame_5: 0.4420, loss_rl: -0.2568, loss_critic: 1.1248, loss_rl_bc: 0.0062, il_score: 0.6548, rl_score: 0.6910, prev_frame_loss_waypoint_0: 0.1894, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.2748, grad_norm: 35.1025, il_score_sum: 66.9422, rl_score_sum: 68.5134, score_diff: -1.5712, il_win: 76.0000, rl_win: 443.5000
2025-09-24 17:13:15,747 - mmdet - INFO - Epoch [21][860/3517]	lr: 3.396e-06, eta: 2:56:57, time: 0.825, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1680, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2664, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3660, debug_std_frame_5: 0.4208, loss_rl: -0.3045, loss_critic: 1.1406, loss_rl_bc: 0.0043, il_score: 0.6646, rl_score: 0.7087, prev_frame_loss_waypoint_0: 0.1701, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.2093, grad_norm: 39.1145, il_score_sum: 66.8851, rl_score_sum: 68.6625, score_diff: -1.7775, il_win: 76.0000, rl_win: 444.0000
2025-09-24 17:13:31,798 - mmdet - INFO - Epoch [21][880/3517]	lr: 3.396e-06, eta: 2:56:41, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1502, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2207, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3199, debug_std_frame_4: 0.3715, debug_std_frame_5: 0.4276, loss_rl: -0.2809, loss_critic: 1.4306, loss_rl_bc: 0.0005, il_score: 0.6920, rl_score: 0.6995, prev_frame_loss_waypoint_0: 0.1765, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.5072, grad_norm: 47.8274, il_score_sum: 66.8851, rl_score_sum: 68.6625, score_diff: -1.7775, il_win: 76.0000, rl_win: 444.0000
2025-09-24 17:13:48,065 - mmdet - INFO - Epoch [21][900/3517]	lr: 3.396e-06, eta: 2:56:25, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1610, debug_std_frame_0: 0.2041, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2652, debug_std_frame_3: 0.3146, debug_std_frame_4: 0.3620, debug_std_frame_5: 0.4148, loss_rl: -0.2788, loss_critic: 1.2185, loss_rl_bc: 0.0030, il_score: 0.6721, rl_score: 0.6998, prev_frame_loss_waypoint_0: 0.1645, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.2973, grad_norm: 45.1585, il_score_sum: 66.8851, rl_score_sum: 68.6625, score_diff: -1.7775, il_win: 76.0000, rl_win: 444.0000
2025-09-24 17:14:04,136 - mmdet - INFO - Epoch [21][920/3517]	lr: 3.396e-06, eta: 2:56:09, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1479, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2179, debug_std_frame_2: 0.2642, debug_std_frame_3: 0.3148, debug_std_frame_4: 0.3637, debug_std_frame_5: 0.4182, loss_rl: -0.3078, loss_critic: 1.3415, loss_rl_bc: 0.0011, il_score: 0.7023, rl_score: 0.7188, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.3965, grad_norm: 41.2269, il_score_sum: 66.8851, rl_score_sum: 68.6625, score_diff: -1.7775, il_win: 76.0000, rl_win: 444.0000
2025-09-24 17:14:20,477 - mmdet - INFO - Epoch [21][940/3517]	lr: 3.396e-06, eta: 2:55:53, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1907, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3278, debug_std_frame_4: 0.3799, debug_std_frame_5: 0.4382, loss_rl: -0.2160, loss_critic: 1.2580, loss_rl_bc: 0.0107, il_score: 0.6683, rl_score: 0.6640, prev_frame_loss_waypoint_0: 0.1978, prev_frame_loss_rl_bc_0: 0.0111, loss: 1.4780, grad_norm: 36.8508, il_score_sum: 66.8851, rl_score_sum: 68.6625, score_diff: -1.7775, il_win: 76.0000, rl_win: 444.0000
2025-09-24 17:14:37,022 - mmdet - INFO - Epoch [21][960/3517]	lr: 3.396e-06, eta: 2:55:37, time: 0.827, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1613, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3209, debug_std_frame_4: 0.3719, debug_std_frame_5: 0.4254, loss_rl: -0.2747, loss_critic: 1.0026, loss_rl_bc: 0.0053, il_score: 0.6702, rl_score: 0.7028, prev_frame_loss_waypoint_0: 0.1778, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.1039, grad_norm: 35.4818, il_score_sum: 67.0065, rl_score_sum: 68.7660, score_diff: -1.7595, il_win: 76.0000, rl_win: 444.5000
2025-09-24 17:14:53,164 - mmdet - INFO - Epoch [21][980/3517]	lr: 3.396e-06, eta: 2:55:21, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1547, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2722, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4278, loss_rl: -0.2550, loss_critic: 1.6053, loss_rl_bc: 0.0030, il_score: 0.6456, rl_score: 0.6630, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.7187, grad_norm: 51.6760, il_score_sum: 67.0065, rl_score_sum: 68.7660, score_diff: -1.7595, il_win: 76.0000, rl_win: 444.5000
2025-09-24 17:15:09,217 - mmdet - INFO - Epoch [21][1000/3517]	lr: 3.396e-06, eta: 2:55:05, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1744, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2745, debug_std_frame_3: 0.3272, debug_std_frame_4: 0.3801, debug_std_frame_5: 0.4355, loss_rl: -0.2621, loss_critic: 1.4121, loss_rl_bc: 0.0072, il_score: 0.6422, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1844, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.5487, grad_norm: 41.9583, il_score_sum: 67.0065, rl_score_sum: 68.7660, score_diff: -1.7595, il_win: 76.0000, rl_win: 444.5000
2025-09-24 17:15:25,290 - mmdet - INFO - Epoch [21][1020/3517]	lr: 3.396e-06, eta: 2:54:49, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1535, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2281, debug_std_frame_2: 0.2789, debug_std_frame_3: 0.3314, debug_std_frame_4: 0.3837, debug_std_frame_5: 0.4396, loss_rl: -0.2847, loss_critic: 1.5295, loss_rl_bc: 0.0020, il_score: 0.6818, rl_score: 0.7113, prev_frame_loss_waypoint_0: 0.1629, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.5925, grad_norm: 45.4893, il_score_sum: 67.0065, rl_score_sum: 68.7660, score_diff: -1.7595, il_win: 76.0000, rl_win: 444.5000
2025-09-24 17:15:41,453 - mmdet - INFO - Epoch [21][1040/3517]	lr: 3.396e-06, eta: 2:54:33, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1591, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2302, debug_std_frame_2: 0.2817, debug_std_frame_3: 0.3344, debug_std_frame_4: 0.3880, debug_std_frame_5: 0.4438, loss_rl: -0.3233, loss_critic: 1.5091, loss_rl_bc: 0.0042, il_score: 0.6475, rl_score: 0.6952, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.5576, grad_norm: 34.4919, il_score_sum: 67.0065, rl_score_sum: 68.7660, score_diff: -1.7595, il_win: 76.0000, rl_win: 444.5000
2025-09-24 17:15:57,865 - mmdet - INFO - Epoch [21][1060/3517]	lr: 3.396e-06, eta: 2:54:17, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1553, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3718, debug_std_frame_5: 0.4230, loss_rl: -0.2728, loss_critic: 1.5026, loss_rl_bc: 0.0046, il_score: 0.6600, rl_score: 0.6715, prev_frame_loss_waypoint_0: 0.1617, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.5805, grad_norm: 51.4702, il_score_sum: 66.8735, rl_score_sum: 68.7194, score_diff: -1.8459, il_win: 76.0000, rl_win: 445.0000
2025-09-24 17:16:13,623 - mmdet - INFO - Epoch [21][1080/3517]	lr: 3.396e-06, eta: 2:54:00, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1577, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2262, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4206, loss_rl: -0.2799, loss_critic: 1.1655, loss_rl_bc: 0.0022, il_score: 0.6846, rl_score: 0.6962, prev_frame_loss_waypoint_0: 0.1646, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.2369, grad_norm: 39.0681, il_score_sum: 66.8735, rl_score_sum: 68.7194, score_diff: -1.8459, il_win: 76.0000, rl_win: 445.0000
2025-09-24 17:16:29,692 - mmdet - INFO - Epoch [21][1100/3517]	lr: 3.396e-06, eta: 2:53:44, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1662, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2291, debug_std_frame_2: 0.2770, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4371, loss_rl: -0.2927, loss_critic: 1.5396, loss_rl_bc: 0.0042, il_score: 0.6558, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.1709, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.6174, grad_norm: 47.7342, il_score_sum: 66.8735, rl_score_sum: 68.7194, score_diff: -1.8459, il_win: 76.0000, rl_win: 445.0000
2025-09-24 17:16:45,890 - mmdet - INFO - Epoch [21][1120/3517]	lr: 3.396e-06, eta: 2:53:28, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1898, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2275, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3264, debug_std_frame_4: 0.3786, debug_std_frame_5: 0.4354, loss_rl: -0.2720, loss_critic: 1.5675, loss_rl_bc: 0.0130, il_score: 0.6347, rl_score: 0.6481, prev_frame_loss_waypoint_0: 0.1911, prev_frame_loss_rl_bc_0: 0.0124, loss: 1.7276, grad_norm: 57.3649, il_score_sum: 66.8735, rl_score_sum: 68.7194, score_diff: -1.8459, il_win: 76.0000, rl_win: 445.0000
2025-09-24 17:17:02,108 - mmdet - INFO - Epoch [21][1140/3517]	lr: 3.396e-06, eta: 2:53:12, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1531, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2716, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3738, debug_std_frame_5: 0.4250, loss_rl: -0.3052, loss_critic: 1.1121, loss_rl_bc: -0.0010, il_score: 0.6995, rl_score: 0.7099, prev_frame_loss_waypoint_0: 0.1618, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.1510, grad_norm: 39.7455, il_score_sum: 66.8735, rl_score_sum: 68.7194, score_diff: -1.8459, il_win: 76.0000, rl_win: 445.0000
2025-09-24 17:17:18,535 - mmdet - INFO - Epoch [21][1160/3517]	lr: 3.396e-06, eta: 2:52:56, time: 0.821, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1736, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2758, debug_std_frame_3: 0.3272, debug_std_frame_4: 0.3786, debug_std_frame_5: 0.4373, loss_rl: -0.3195, loss_critic: 1.3634, loss_rl_bc: 0.0062, il_score: 0.6802, rl_score: 0.7138, prev_frame_loss_waypoint_0: 0.1707, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.4230, grad_norm: 35.0977, il_score_sum: 66.8922, rl_score_sum: 68.7386, score_diff: -1.8464, il_win: 76.0000, rl_win: 445.5000
2025-09-24 17:17:34,558 - mmdet - INFO - Epoch [21][1180/3517]	lr: 3.396e-06, eta: 2:52:40, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1624, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2801, debug_std_frame_3: 0.3365, debug_std_frame_4: 0.3915, debug_std_frame_5: 0.4510, loss_rl: -0.2205, loss_critic: 1.3982, loss_rl_bc: 0.0055, il_score: 0.6382, rl_score: 0.6563, prev_frame_loss_waypoint_0: 0.1841, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.5641, grad_norm: 35.2278, il_score_sum: 66.8922, rl_score_sum: 68.7386, score_diff: -1.8464, il_win: 76.0000, rl_win: 445.5000
2025-09-24 17:17:50,709 - mmdet - INFO - Epoch [21][1200/3517]	lr: 3.396e-06, eta: 2:52:24, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1686, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3365, debug_std_frame_4: 0.3925, debug_std_frame_5: 0.4522, loss_rl: -0.2328, loss_critic: 1.1849, loss_rl_bc: 0.0074, il_score: 0.6419, rl_score: 0.6638, prev_frame_loss_waypoint_0: 0.1950, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.3590, grad_norm: 38.2977, il_score_sum: 66.8922, rl_score_sum: 68.7386, score_diff: -1.8464, il_win: 76.0000, rl_win: 445.5000
2025-09-24 17:18:06,880 - mmdet - INFO - Epoch [21][1220/3517]	lr: 3.396e-06, eta: 2:52:08, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1672, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3154, debug_std_frame_4: 0.3645, debug_std_frame_5: 0.4152, loss_rl: -0.2547, loss_critic: 1.1976, loss_rl_bc: 0.0036, il_score: 0.6795, rl_score: 0.7025, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.3252, grad_norm: 39.6239, il_score_sum: 66.8922, rl_score_sum: 68.7386, score_diff: -1.8464, il_win: 76.0000, rl_win: 445.5000
2025-09-24 17:18:22,753 - mmdet - INFO - Epoch [21][1240/3517]	lr: 3.396e-06, eta: 2:51:52, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1753, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2800, debug_std_frame_3: 0.3356, debug_std_frame_4: 0.3924, debug_std_frame_5: 0.4557, loss_rl: -0.2256, loss_critic: 1.1103, loss_rl_bc: 0.0096, il_score: 0.6584, rl_score: 0.6802, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.2880, grad_norm: 43.7593, il_score_sum: 66.8922, rl_score_sum: 68.7386, score_diff: -1.8464, il_win: 76.0000, rl_win: 445.5000
2025-09-24 17:18:38,962 - mmdet - INFO - Epoch [21][1260/3517]	lr: 3.396e-06, eta: 2:51:36, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1441, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3200, debug_std_frame_4: 0.3714, debug_std_frame_5: 0.4239, loss_rl: -0.3004, loss_critic: 1.3576, loss_rl_bc: -0.0008, il_score: 0.7100, rl_score: 0.7096, prev_frame_loss_waypoint_0: 0.1541, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.3834, grad_norm: 38.6888, il_score_sum: 66.8667, rl_score_sum: 68.7008, score_diff: -1.8341, il_win: 76.0000, rl_win: 446.0000
2025-09-24 17:18:54,783 - mmdet - INFO - Epoch [21][1280/3517]	lr: 3.396e-06, eta: 2:51:20, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1582, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2663, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4172, loss_rl: -0.2715, loss_critic: 1.6779, loss_rl_bc: 0.0050, il_score: 0.6763, rl_score: 0.6673, prev_frame_loss_waypoint_0: 0.1528, prev_frame_loss_rl_bc_0: -0.0013, loss: 1.7472, grad_norm: 38.1569, il_score_sum: 66.8667, rl_score_sum: 68.7008, score_diff: -1.8341, il_win: 76.0000, rl_win: 446.0000
2025-09-24 17:19:10,804 - mmdet - INFO - Epoch [21][1300/3517]	lr: 3.396e-06, eta: 2:51:04, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1677, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3679, debug_std_frame_5: 0.4233, loss_rl: -0.2225, loss_critic: 1.1018, loss_rl_bc: 0.0078, il_score: 0.6610, rl_score: 0.6772, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.2716, grad_norm: 41.8698, il_score_sum: 66.8667, rl_score_sum: 68.7008, score_diff: -1.8341, il_win: 76.0000, rl_win: 446.0000
2025-09-24 17:19:26,653 - mmdet - INFO - Epoch [21][1320/3517]	lr: 3.396e-06, eta: 2:50:48, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1616, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3730, debug_std_frame_5: 0.4282, loss_rl: -0.2695, loss_critic: 1.2862, loss_rl_bc: 0.0042, il_score: 0.6550, rl_score: 0.6819, prev_frame_loss_waypoint_0: 0.1747, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.3880, grad_norm: 51.6590, il_score_sum: 66.8667, rl_score_sum: 68.7008, score_diff: -1.8341, il_win: 76.0000, rl_win: 446.0000
2025-09-24 17:19:42,533 - mmdet - INFO - Epoch [21][1340/3517]	lr: 3.396e-06, eta: 2:50:31, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1720, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3214, debug_std_frame_4: 0.3714, debug_std_frame_5: 0.4264, loss_rl: -0.2615, loss_critic: 1.2455, loss_rl_bc: 0.0086, il_score: 0.6773, rl_score: 0.6865, prev_frame_loss_waypoint_0: 0.1639, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.3600, grad_norm: 41.4861, il_score_sum: 66.8667, rl_score_sum: 68.7008, score_diff: -1.8341, il_win: 76.0000, rl_win: 446.0000
2025-09-24 17:19:58,838 - mmdet - INFO - Epoch [21][1360/3517]	lr: 3.396e-06, eta: 2:50:15, time: 0.815, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1453, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2769, debug_std_frame_3: 0.3246, debug_std_frame_4: 0.3739, debug_std_frame_5: 0.4277, loss_rl: -0.2645, loss_critic: 1.2961, loss_rl_bc: 0.0003, il_score: 0.6967, rl_score: 0.6852, prev_frame_loss_waypoint_0: 0.1703, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.3751, grad_norm: 36.7628, il_score_sum: 66.8994, rl_score_sum: 68.6480, score_diff: -1.7486, il_win: 76.0000, rl_win: 446.4286
2025-09-24 17:20:14,522 - mmdet - INFO - Epoch [21][1380/3517]	lr: 3.396e-06, eta: 2:49:59, time: 0.784, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1644, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2674, debug_std_frame_3: 0.3185, debug_std_frame_4: 0.3701, debug_std_frame_5: 0.4261, loss_rl: -0.2340, loss_critic: 1.4791, loss_rl_bc: 0.0061, il_score: 0.6554, rl_score: 0.6719, prev_frame_loss_waypoint_0: 0.1779, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.6265, grad_norm: 42.2729, il_score_sum: 66.8994, rl_score_sum: 68.6480, score_diff: -1.7486, il_win: 76.0000, rl_win: 446.4286
2025-09-24 17:20:30,466 - mmdet - INFO - Epoch [21][1400/3517]	lr: 3.396e-06, eta: 2:49:43, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1532, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2688, debug_std_frame_3: 0.3159, debug_std_frame_4: 0.3646, debug_std_frame_5: 0.4202, loss_rl: -0.2859, loss_critic: 1.4480, loss_rl_bc: 0.0023, il_score: 0.6694, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1720, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.5201, grad_norm: 44.5292, il_score_sum: 66.8994, rl_score_sum: 68.6480, score_diff: -1.7486, il_win: 76.0000, rl_win: 446.4286
2025-09-24 17:20:46,495 - mmdet - INFO - Epoch [21][1420/3517]	lr: 3.396e-06, eta: 2:49:27, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0279, loss_waypoint: 0.1689, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3202, debug_std_frame_4: 0.3680, debug_std_frame_5: 0.4218, loss_rl: -0.2428, loss_critic: 1.4624, loss_rl_bc: 0.0050, il_score: 0.6702, rl_score: 0.6818, prev_frame_loss_waypoint_0: 0.1734, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.5993, grad_norm: 46.9507, il_score_sum: 66.8994, rl_score_sum: 68.6480, score_diff: -1.7486, il_win: 76.0000, rl_win: 446.4286
2025-09-24 17:21:02,411 - mmdet - INFO - Epoch [21][1440/3517]	lr: 3.396e-06, eta: 2:49:11, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1530, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3147, debug_std_frame_4: 0.3619, debug_std_frame_5: 0.4149, loss_rl: -0.2598, loss_critic: 1.1545, loss_rl_bc: 0.0026, il_score: 0.6931, rl_score: 0.7024, prev_frame_loss_waypoint_0: 0.1732, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.2552, grad_norm: 37.1019, il_score_sum: 66.8994, rl_score_sum: 68.6480, score_diff: -1.7486, il_win: 76.0000, rl_win: 446.4286
2025-09-24 17:21:18,682 - mmdet - INFO - Epoch [21][1460/3517]	lr: 3.396e-06, eta: 2:48:55, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1362, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2616, debug_std_frame_3: 0.3078, debug_std_frame_4: 0.3532, debug_std_frame_5: 0.4015, loss_rl: -0.3197, loss_critic: 1.3273, loss_rl_bc: -0.0030, il_score: 0.6803, rl_score: 0.7197, prev_frame_loss_waypoint_0: 0.1594, prev_frame_loss_rl_bc_0: 0.0007, loss: 1.3265, grad_norm: 36.4398, il_score_sum: 66.9306, rl_score_sum: 68.7018, score_diff: -1.7712, il_win: 76.0000, rl_win: 446.8667
2025-09-24 17:21:34,496 - mmdet - INFO - Epoch [21][1480/3517]	lr: 3.396e-06, eta: 2:48:39, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1586, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2648, debug_std_frame_3: 0.3135, debug_std_frame_4: 0.3631, debug_std_frame_5: 0.4169, loss_rl: -0.2546, loss_critic: 1.4959, loss_rl_bc: 0.0034, il_score: 0.6373, rl_score: 0.6868, prev_frame_loss_waypoint_0: 0.1557, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5876, grad_norm: 40.8402, il_score_sum: 66.9306, rl_score_sum: 68.7018, score_diff: -1.7712, il_win: 76.0000, rl_win: 446.8667
2025-09-24 17:21:50,498 - mmdet - INFO - Epoch [21][1500/3517]	lr: 3.396e-06, eta: 2:48:23, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1448, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2667, debug_std_frame_3: 0.3174, debug_std_frame_4: 0.3679, debug_std_frame_5: 0.4239, loss_rl: -0.2922, loss_critic: 1.2572, loss_rl_bc: -0.0004, il_score: 0.6870, rl_score: 0.7083, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.3147, grad_norm: 37.4068, il_score_sum: 66.9306, rl_score_sum: 68.7018, score_diff: -1.7712, il_win: 76.0000, rl_win: 446.8667
2025-09-24 17:22:06,544 - mmdet - INFO - Epoch [21][1520/3517]	lr: 3.396e-06, eta: 2:48:07, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1588, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2201, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3135, debug_std_frame_4: 0.3621, debug_std_frame_5: 0.4174, loss_rl: -0.2826, loss_critic: 1.2634, loss_rl_bc: 0.0040, il_score: 0.6597, rl_score: 0.7079, prev_frame_loss_waypoint_0: 0.1740, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.3456, grad_norm: 39.5654, il_score_sum: 66.9306, rl_score_sum: 68.7018, score_diff: -1.7712, il_win: 76.0000, rl_win: 446.8667
2025-09-24 17:22:22,587 - mmdet - INFO - Epoch [21][1540/3517]	lr: 3.396e-06, eta: 2:47:51, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1783, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3175, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4240, loss_rl: -0.2517, loss_critic: 1.1539, loss_rl_bc: 0.0121, il_score: 0.6487, rl_score: 0.6743, prev_frame_loss_waypoint_0: 0.1841, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.3111, grad_norm: 51.2896, il_score_sum: 66.9306, rl_score_sum: 68.7018, score_diff: -1.7712, il_win: 76.0000, rl_win: 446.8667
2025-09-24 17:22:38,975 - mmdet - INFO - Epoch [21][1560/3517]	lr: 3.396e-06, eta: 2:47:34, time: 0.820, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1500, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3799, debug_std_frame_5: 0.4385, loss_rl: -0.2863, loss_critic: 1.4951, loss_rl_bc: 0.0014, il_score: 0.6747, rl_score: 0.6987, prev_frame_loss_waypoint_0: 0.1607, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.5492, grad_norm: 32.7111, il_score_sum: 66.8817, rl_score_sum: 68.7530, score_diff: -1.8712, il_win: 76.0000, rl_win: 447.3125
2025-09-24 17:22:54,706 - mmdet - INFO - Epoch [21][1580/3517]	lr: 3.396e-06, eta: 2:47:18, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1590, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3277, debug_std_frame_4: 0.3780, debug_std_frame_5: 0.4318, loss_rl: -0.2490, loss_critic: 1.1984, loss_rl_bc: 0.0047, il_score: 0.6435, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.3237, grad_norm: 49.9456, il_score_sum: 66.8817, rl_score_sum: 68.7530, score_diff: -1.8712, il_win: 76.0000, rl_win: 447.3125
2025-09-24 17:23:10,562 - mmdet - INFO - Epoch [21][1600/3517]	lr: 3.396e-06, eta: 2:47:02, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1701, debug_std_frame_0: 0.2097, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3686, debug_std_frame_5: 0.4234, loss_rl: -0.2795, loss_critic: 1.2147, loss_rl_bc: 0.0087, il_score: 0.6890, rl_score: 0.6819, prev_frame_loss_waypoint_0: 0.1614, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.3046, grad_norm: 38.1174, il_score_sum: 66.8817, rl_score_sum: 68.7530, score_diff: -1.8712, il_win: 76.0000, rl_win: 447.3125
2025-09-24 17:23:26,660 - mmdet - INFO - Epoch [21][1620/3517]	lr: 3.396e-06, eta: 2:46:46, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1566, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3756, debug_std_frame_5: 0.4307, loss_rl: -0.2965, loss_critic: 1.2800, loss_rl_bc: 0.0047, il_score: 0.7001, rl_score: 0.6960, prev_frame_loss_waypoint_0: 0.1757, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.3549, grad_norm: 33.2307, il_score_sum: 66.8817, rl_score_sum: 68.7530, score_diff: -1.8712, il_win: 76.0000, rl_win: 447.3125
2025-09-24 17:23:42,705 - mmdet - INFO - Epoch [21][1640/3517]	lr: 3.396e-06, eta: 2:46:30, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1510, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2698, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3727, debug_std_frame_5: 0.4278, loss_rl: -0.2858, loss_critic: 1.4373, loss_rl_bc: 0.0008, il_score: 0.6479, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.5001, grad_norm: 37.2621, il_score_sum: 66.8817, rl_score_sum: 68.7530, score_diff: -1.8712, il_win: 76.0000, rl_win: 447.3125
2025-09-24 17:23:58,967 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 17:23:58,967 - mmdet - INFO - Epoch [21][1660/3517]	lr: 3.396e-06, eta: 2:46:14, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1658, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3751, debug_std_frame_5: 0.4293, loss_rl: -0.3050, loss_critic: 1.4330, loss_rl_bc: 0.0070, il_score: 0.6960, rl_score: 0.7034, prev_frame_loss_waypoint_0: 0.1886, prev_frame_loss_rl_bc_0: 0.0146, loss: 1.5289, grad_norm: 40.3453, il_score_sum: 66.9200, rl_score_sum: 68.7239, score_diff: -1.8039, il_win: 76.0000, rl_win: 447.7059
2025-09-24 17:24:14,746 - mmdet - INFO - Epoch [21][1680/3517]	lr: 3.396e-06, eta: 2:45:58, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1648, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2284, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3809, debug_std_frame_5: 0.4388, loss_rl: -0.2649, loss_critic: 1.2741, loss_rl_bc: 0.0059, il_score: 0.6273, rl_score: 0.6581, prev_frame_loss_waypoint_0: 0.1886, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.4020, grad_norm: 38.2597, il_score_sum: 66.9200, rl_score_sum: 68.7239, score_diff: -1.8039, il_win: 76.0000, rl_win: 447.7059
2025-09-24 17:24:30,730 - mmdet - INFO - Epoch [21][1700/3517]	lr: 3.396e-06, eta: 2:45:42, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1548, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2841, debug_std_frame_3: 0.3409, debug_std_frame_4: 0.3956, debug_std_frame_5: 0.4524, loss_rl: -0.2527, loss_critic: 1.2848, loss_rl_bc: 0.0031, il_score: 0.6676, rl_score: 0.7027, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.3971, grad_norm: 45.7353, il_score_sum: 66.9200, rl_score_sum: 68.7239, score_diff: -1.8039, il_win: 76.0000, rl_win: 447.7059
2025-09-24 17:24:46,914 - mmdet - INFO - Epoch [21][1720/3517]	lr: 3.396e-06, eta: 2:45:26, time: 0.809, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1586, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2745, debug_std_frame_3: 0.3251, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4313, loss_rl: -0.3025, loss_critic: 1.0200, loss_rl_bc: 0.0011, il_score: 0.7138, rl_score: 0.7130, prev_frame_loss_waypoint_0: 0.1690, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.0746, grad_norm: 35.6042, il_score_sum: 66.9200, rl_score_sum: 68.7239, score_diff: -1.8039, il_win: 76.0000, rl_win: 447.7059
2025-09-24 17:25:04,672 - mmdet - INFO - Epoch [21][1740/3517]	lr: 3.396e-06, eta: 2:45:10, time: 0.888, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1541, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4342, loss_rl: -0.2843, loss_critic: 1.3186, loss_rl_bc: 0.0014, il_score: 0.6938, rl_score: 0.7084, prev_frame_loss_waypoint_0: 0.1615, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.3814, grad_norm: 40.9601, il_score_sum: 66.9200, rl_score_sum: 68.7239, score_diff: -1.8039, il_win: 76.0000, rl_win: 447.7059
2025-09-24 17:25:21,055 - mmdet - INFO - Epoch [21][1760/3517]	lr: 3.396e-06, eta: 2:44:54, time: 0.819, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1721, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4305, loss_rl: -0.2864, loss_critic: 1.1688, loss_rl_bc: 0.0099, il_score: 0.6650, rl_score: 0.7112, prev_frame_loss_waypoint_0: 0.1691, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.2642, grad_norm: 42.8709, il_score_sum: 66.9439, rl_score_sum: 68.7874, score_diff: -1.8435, il_win: 76.0000, rl_win: 448.1111
2025-09-24 17:25:36,932 - mmdet - INFO - Epoch [21][1780/3517]	lr: 3.396e-06, eta: 2:44:38, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1772, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3315, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4385, loss_rl: -0.2697, loss_critic: 1.5517, loss_rl_bc: 0.0103, il_score: 0.6356, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.1678, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.6663, grad_norm: 30.0705, il_score_sum: 66.9439, rl_score_sum: 68.7874, score_diff: -1.8435, il_win: 76.0000, rl_win: 448.1111
2025-09-24 17:25:52,833 - mmdet - INFO - Epoch [21][1800/3517]	lr: 3.396e-06, eta: 2:44:22, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1595, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2260, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3308, debug_std_frame_4: 0.3867, debug_std_frame_5: 0.4474, loss_rl: -0.2781, loss_critic: 1.2281, loss_rl_bc: 0.0040, il_score: 0.6782, rl_score: 0.6991, prev_frame_loss_waypoint_0: 0.1760, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.3178, grad_norm: 45.9546, il_score_sum: 66.9439, rl_score_sum: 68.7874, score_diff: -1.8435, il_win: 76.0000, rl_win: 448.1111
2025-09-24 17:26:08,739 - mmdet - INFO - Epoch [21][1820/3517]	lr: 3.396e-06, eta: 2:44:06, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1600, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2688, debug_std_frame_3: 0.3192, debug_std_frame_4: 0.3689, debug_std_frame_5: 0.4250, loss_rl: -0.2750, loss_critic: 1.2486, loss_rl_bc: 0.0033, il_score: 0.6641, rl_score: 0.6852, prev_frame_loss_waypoint_0: 0.1697, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.3368, grad_norm: 35.5428, il_score_sum: 66.9439, rl_score_sum: 68.7874, score_diff: -1.8435, il_win: 76.0000, rl_win: 448.1111
2025-09-24 17:26:24,512 - mmdet - INFO - Epoch [21][1840/3517]	lr: 3.396e-06, eta: 2:43:49, time: 0.789, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1940, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2270, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3303, debug_std_frame_4: 0.3833, debug_std_frame_5: 0.4385, loss_rl: -0.2435, loss_critic: 1.1203, loss_rl_bc: 0.0084, il_score: 0.6631, rl_score: 0.6742, prev_frame_loss_waypoint_0: 0.1890, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.3030, grad_norm: 43.5082, il_score_sum: 66.9439, rl_score_sum: 68.7874, score_diff: -1.8435, il_win: 76.0000, rl_win: 448.1111
2025-09-24 17:26:40,890 - mmdet - INFO - Epoch [21][1860/3517]	lr: 3.396e-06, eta: 2:43:33, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1661, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2730, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3746, debug_std_frame_5: 0.4281, loss_rl: -0.2891, loss_critic: 1.4140, loss_rl_bc: 0.0059, il_score: 0.6660, rl_score: 0.6894, prev_frame_loss_waypoint_0: 0.1689, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.4970, grad_norm: 33.6975, il_score_sum: 66.9016, rl_score_sum: 68.7558, score_diff: -1.8542, il_win: 76.0000, rl_win: 448.5263
2025-09-24 17:26:56,801 - mmdet - INFO - Epoch [21][1880/3517]	lr: 3.396e-06, eta: 2:43:17, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1579, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2745, debug_std_frame_3: 0.3253, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4285, loss_rl: -0.2950, loss_critic: 1.2090, loss_rl_bc: 0.0019, il_score: 0.6962, rl_score: 0.7053, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.2759, grad_norm: 37.9931, il_score_sum: 66.9016, rl_score_sum: 68.7558, score_diff: -1.8542, il_win: 76.0000, rl_win: 448.5263
2025-09-24 17:27:12,858 - mmdet - INFO - Epoch [21][1900/3517]	lr: 3.396e-06, eta: 2:43:01, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1414, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2201, debug_std_frame_2: 0.2666, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4267, loss_rl: -0.2958, loss_critic: 1.4198, loss_rl_bc: 0.0029, il_score: 0.6857, rl_score: 0.7006, prev_frame_loss_waypoint_0: 0.1490, prev_frame_loss_rl_bc_0: -0.0016, loss: 1.4404, grad_norm: 41.4929, il_score_sum: 66.9016, rl_score_sum: 68.7558, score_diff: -1.8542, il_win: 76.0000, rl_win: 448.5263
2025-09-24 17:27:28,856 - mmdet - INFO - Epoch [21][1920/3517]	lr: 3.396e-06, eta: 2:42:45, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1504, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2683, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3709, debug_std_frame_5: 0.4281, loss_rl: -0.3113, loss_critic: 1.3631, loss_rl_bc: 0.0010, il_score: 0.6932, rl_score: 0.7168, prev_frame_loss_waypoint_0: 0.1585, prev_frame_loss_rl_bc_0: 0.0011, loss: 1.3892, grad_norm: 42.4022, il_score_sum: 66.9016, rl_score_sum: 68.7558, score_diff: -1.8542, il_win: 76.0000, rl_win: 448.5263
2025-09-24 17:27:45,040 - mmdet - INFO - Epoch [21][1940/3517]	lr: 3.396e-06, eta: 2:42:29, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1562, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2626, debug_std_frame_3: 0.3119, debug_std_frame_4: 0.3609, debug_std_frame_5: 0.4149, loss_rl: -0.2788, loss_critic: 1.3919, loss_rl_bc: 0.0015, il_score: 0.7009, rl_score: 0.7085, prev_frame_loss_waypoint_0: 0.1662, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.4655, grad_norm: 55.9617, il_score_sum: 66.9016, rl_score_sum: 68.7558, score_diff: -1.8542, il_win: 76.0000, rl_win: 448.5263
2025-09-24 17:28:01,243 - mmdet - INFO - Epoch [21][1960/3517]	lr: 3.396e-06, eta: 2:42:13, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1663, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2180, debug_std_frame_2: 0.2633, debug_std_frame_3: 0.3117, debug_std_frame_4: 0.3585, debug_std_frame_5: 0.4103, loss_rl: -0.2757, loss_critic: 1.2897, loss_rl_bc: 0.0063, il_score: 0.6642, rl_score: 0.6870, prev_frame_loss_waypoint_0: 0.1808, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.4004, grad_norm: 38.4381, il_score_sum: 66.9968, rl_score_sum: 68.8361, score_diff: -1.8393, il_win: 76.0000, rl_win: 448.9500
2025-09-24 17:28:16,992 - mmdet - INFO - Epoch [21][1980/3517]	lr: 3.396e-06, eta: 2:41:57, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1873, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4335, loss_rl: -0.2504, loss_critic: 1.0103, loss_rl_bc: 0.0136, il_score: 0.6376, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1939, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.1928, grad_norm: 35.2063, il_score_sum: 66.9968, rl_score_sum: 68.8361, score_diff: -1.8393, il_win: 76.0000, rl_win: 448.9500
2025-09-24 17:28:32,964 - mmdet - INFO - Epoch [21][2000/3517]	lr: 3.396e-06, eta: 2:41:41, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1591, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2755, debug_std_frame_3: 0.3290, debug_std_frame_4: 0.3810, debug_std_frame_5: 0.4392, loss_rl: -0.2810, loss_critic: 1.6947, loss_rl_bc: 0.0061, il_score: 0.6511, rl_score: 0.6698, prev_frame_loss_waypoint_0: 0.1658, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.7710, grad_norm: 40.3657, il_score_sum: 66.9968, rl_score_sum: 68.8361, score_diff: -1.8393, il_win: 76.0000, rl_win: 448.9500
2025-09-24 17:28:51,610 - mmdet - INFO - Epoch [21][2020/3517]	lr: 3.396e-06, eta: 2:41:25, time: 0.932, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1644, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2244, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4308, loss_rl: -0.2851, loss_critic: 1.2899, loss_rl_bc: 0.0038, il_score: 0.6801, rl_score: 0.6852, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3786, grad_norm: 42.3734, il_score_sum: 66.9968, rl_score_sum: 68.8361, score_diff: -1.8393, il_win: 76.0000, rl_win: 448.9500
2025-09-24 17:29:09,234 - mmdet - INFO - Epoch [21][2040/3517]	lr: 3.396e-06, eta: 2:41:09, time: 0.881, data_time: 0.011, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1548, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2312, debug_std_frame_2: 0.2811, debug_std_frame_3: 0.3357, debug_std_frame_4: 0.3897, debug_std_frame_5: 0.4499, loss_rl: -0.2465, loss_critic: 1.2368, loss_rl_bc: 0.0020, il_score: 0.6818, rl_score: 0.6837, prev_frame_loss_waypoint_0: 0.1804, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.3580, grad_norm: 42.1223, il_score_sum: 66.9968, rl_score_sum: 68.8361, score_diff: -1.8393, il_win: 76.0000, rl_win: 448.9500
2025-09-24 17:29:25,483 - mmdet - INFO - Epoch [21][2060/3517]	lr: 3.396e-06, eta: 2:40:53, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1733, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3834, debug_std_frame_5: 0.4416, loss_rl: -0.2828, loss_critic: 1.3111, loss_rl_bc: 0.0096, il_score: 0.6702, rl_score: 0.6949, prev_frame_loss_waypoint_0: 0.1904, prev_frame_loss_rl_bc_0: 0.0129, loss: 1.4408, grad_norm: 48.3396, il_score_sum: 67.0577, rl_score_sum: 68.8732, score_diff: -1.8155, il_win: 76.0000, rl_win: 449.8500
2025-09-24 17:29:41,419 - mmdet - INFO - Epoch [21][2080/3517]	lr: 3.396e-06, eta: 2:40:37, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1694, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3707, debug_std_frame_5: 0.4241, loss_rl: -0.2925, loss_critic: 1.4570, loss_rl_bc: 0.0083, il_score: 0.6694, rl_score: 0.6835, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.5558, grad_norm: 51.6019, il_score_sum: 67.0577, rl_score_sum: 68.8732, score_diff: -1.8155, il_win: 76.0000, rl_win: 449.8500
2025-09-24 17:29:57,357 - mmdet - INFO - Epoch [21][2100/3517]	lr: 3.396e-06, eta: 2:40:21, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1821, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2808, debug_std_frame_3: 0.3353, debug_std_frame_4: 0.3893, debug_std_frame_5: 0.4454, loss_rl: -0.2865, loss_critic: 1.0410, loss_rl_bc: 0.0093, il_score: 0.6688, rl_score: 0.6955, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0083, loss: 1.1643, grad_norm: 45.7012, il_score_sum: 67.0577, rl_score_sum: 68.8732, score_diff: -1.8155, il_win: 76.0000, rl_win: 449.8500
2025-09-24 17:30:15,366 - mmdet - INFO - Epoch [21][2120/3517]	lr: 3.396e-06, eta: 2:40:05, time: 0.901, data_time: 0.011, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1827, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2849, debug_std_frame_3: 0.3403, debug_std_frame_4: 0.3963, debug_std_frame_5: 0.4576, loss_rl: -0.2524, loss_critic: 1.3143, loss_rl_bc: 0.0090, il_score: 0.6675, rl_score: 0.6805, prev_frame_loss_waypoint_0: 0.1882, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.4775, grad_norm: 46.4130, il_score_sum: 67.0577, rl_score_sum: 68.8732, score_diff: -1.8155, il_win: 76.0000, rl_win: 449.8500
2025-09-24 17:30:31,196 - mmdet - INFO - Epoch [21][2140/3517]	lr: 3.396e-06, eta: 2:39:49, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1419, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2731, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3711, debug_std_frame_5: 0.4275, loss_rl: -0.2874, loss_critic: 1.5478, loss_rl_bc: -0.0025, il_score: 0.6958, rl_score: 0.6950, prev_frame_loss_waypoint_0: 0.1543, prev_frame_loss_rl_bc_0: 0.0016, loss: 1.5815, grad_norm: 36.4529, il_score_sum: 67.0577, rl_score_sum: 68.8732, score_diff: -1.8155, il_win: 76.0000, rl_win: 449.8500
2025-09-24 17:30:47,473 - mmdet - INFO - Epoch [21][2160/3517]	lr: 3.396e-06, eta: 2:39:33, time: 0.814, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1570, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3200, debug_std_frame_4: 0.3678, debug_std_frame_5: 0.4255, loss_rl: -0.2752, loss_critic: 1.4324, loss_rl_bc: 0.0039, il_score: 0.6605, rl_score: 0.6893, prev_frame_loss_waypoint_0: 0.1684, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.5161, grad_norm: 36.9849, il_score_sum: 67.0776, rl_score_sum: 68.9152, score_diff: -1.8376, il_win: 76.0000, rl_win: 450.7500
2025-09-24 17:31:03,312 - mmdet - INFO - Epoch [21][2180/3517]	lr: 3.396e-06, eta: 2:39:17, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1766, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3280, debug_std_frame_4: 0.3825, debug_std_frame_5: 0.4441, loss_rl: -0.2293, loss_critic: 1.1667, loss_rl_bc: 0.0108, il_score: 0.6865, rl_score: 0.6912, prev_frame_loss_waypoint_0: 0.1918, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.3527, grad_norm: 47.3957, il_score_sum: 67.0776, rl_score_sum: 68.9152, score_diff: -1.8376, il_win: 76.0000, rl_win: 450.7500
2025-09-24 17:31:19,228 - mmdet - INFO - Epoch [21][2200/3517]	lr: 3.396e-06, eta: 2:39:01, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1634, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2252, debug_std_frame_2: 0.2764, debug_std_frame_3: 0.3304, debug_std_frame_4: 0.3819, debug_std_frame_5: 0.4405, loss_rl: -0.2389, loss_critic: 1.2583, loss_rl_bc: 0.0071, il_score: 0.6841, rl_score: 0.6787, prev_frame_loss_waypoint_0: 0.1847, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.4090, grad_norm: 43.9427, il_score_sum: 67.0776, rl_score_sum: 68.9152, score_diff: -1.8376, il_win: 76.0000, rl_win: 450.7500
2025-09-24 17:31:35,250 - mmdet - INFO - Epoch [21][2220/3517]	lr: 3.396e-06, eta: 2:38:45, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1637, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2268, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3283, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4363, loss_rl: -0.2450, loss_critic: 1.2255, loss_rl_bc: 0.0055, il_score: 0.6667, rl_score: 0.6814, prev_frame_loss_waypoint_0: 0.1597, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3382, grad_norm: 42.2778, il_score_sum: 67.0776, rl_score_sum: 68.9152, score_diff: -1.8376, il_win: 76.0000, rl_win: 450.7500
2025-09-24 17:31:51,384 - mmdet - INFO - Epoch [21][2240/3517]	lr: 3.396e-06, eta: 2:38:29, time: 0.807, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1485, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2287, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3669, debug_std_frame_5: 0.4187, loss_rl: -0.2842, loss_critic: 1.3225, loss_rl_bc: 0.0043, il_score: 0.6851, rl_score: 0.6860, prev_frame_loss_waypoint_0: 0.1504, prev_frame_loss_rl_bc_0: -0.0012, loss: 1.3668, grad_norm: 38.2921, il_score_sum: 67.0776, rl_score_sum: 68.9152, score_diff: -1.8376, il_win: 76.0000, rl_win: 450.7500
2025-09-24 17:32:07,735 - mmdet - INFO - Epoch [21][2260/3517]	lr: 3.396e-06, eta: 2:38:13, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1565, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2275, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3246, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4330, loss_rl: -0.2572, loss_critic: 1.2294, loss_rl_bc: 0.0015, il_score: 0.7090, rl_score: 0.7017, prev_frame_loss_waypoint_0: 0.1716, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.3307, grad_norm: 33.1555, il_score_sum: 67.1699, rl_score_sum: 68.9021, score_diff: -1.7322, il_win: 76.0000, rl_win: 451.6000
2025-09-24 17:32:23,808 - mmdet - INFO - Epoch [21][2280/3517]	lr: 3.396e-06, eta: 2:37:57, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1665, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2287, debug_std_frame_2: 0.2763, debug_std_frame_3: 0.3257, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4316, loss_rl: -0.2682, loss_critic: 1.7247, loss_rl_bc: 0.0082, il_score: 0.6334, rl_score: 0.6633, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.8472, grad_norm: 36.9266, il_score_sum: 67.1699, rl_score_sum: 68.9021, score_diff: -1.7322, il_win: 76.0000, rl_win: 451.6000
2025-09-24 17:32:40,016 - mmdet - INFO - Epoch [21][2300/3517]	lr: 3.396e-06, eta: 2:37:41, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1728, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2722, debug_std_frame_3: 0.3242, debug_std_frame_4: 0.3754, debug_std_frame_5: 0.4297, loss_rl: -0.2670, loss_critic: 1.1196, loss_rl_bc: 0.0064, il_score: 0.6671, rl_score: 0.6961, prev_frame_loss_waypoint_0: 0.1706, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.2317, grad_norm: 39.5398, il_score_sum: 67.1699, rl_score_sum: 68.9021, score_diff: -1.7322, il_win: 76.0000, rl_win: 451.6000
2025-09-24 17:32:56,379 - mmdet - INFO - Epoch [21][2320/3517]	lr: 3.396e-06, eta: 2:37:25, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1840, debug_std_frame_0: 0.2043, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2774, debug_std_frame_3: 0.3320, debug_std_frame_4: 0.3850, debug_std_frame_5: 0.4384, loss_rl: -0.2476, loss_critic: 0.9082, loss_rl_bc: 0.0085, il_score: 0.6645, rl_score: 0.6724, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.0712, grad_norm: 41.7003, il_score_sum: 67.1699, rl_score_sum: 68.9021, score_diff: -1.7322, il_win: 76.0000, rl_win: 451.6000
2025-09-24 17:33:12,541 - mmdet - INFO - Epoch [21][2340/3517]	lr: 3.396e-06, eta: 2:37:09, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1764, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2678, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3699, debug_std_frame_5: 0.4278, loss_rl: -0.2263, loss_critic: 1.3481, loss_rl_bc: 0.0097, il_score: 0.6264, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.1651, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5041, grad_norm: 41.2050, il_score_sum: 67.1699, rl_score_sum: 68.9021, score_diff: -1.7322, il_win: 76.0000, rl_win: 451.6000
2025-09-24 17:33:29,037 - mmdet - INFO - Epoch [21][2360/3517]	lr: 3.396e-06, eta: 2:36:52, time: 0.825, data_time: 0.011, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1659, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4284, loss_rl: -0.2508, loss_critic: 1.2607, loss_rl_bc: 0.0051, il_score: 0.6640, rl_score: 0.6741, prev_frame_loss_waypoint_0: 0.1569, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.3643, grad_norm: 33.9978, il_score_sum: 67.0552, rl_score_sum: 68.8418, score_diff: -1.7866, il_win: 76.0000, rl_win: 452.4500
2025-09-24 17:33:44,948 - mmdet - INFO - Epoch [21][2380/3517]	lr: 3.396e-06, eta: 2:36:36, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1584, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2268, debug_std_frame_2: 0.2789, debug_std_frame_3: 0.3321, debug_std_frame_4: 0.3871, debug_std_frame_5: 0.4439, loss_rl: -0.2991, loss_critic: 1.3414, loss_rl_bc: 0.0024, il_score: 0.7028, rl_score: 0.7154, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.4197, grad_norm: 40.4824, il_score_sum: 67.0552, rl_score_sum: 68.8418, score_diff: -1.7866, il_win: 76.0000, rl_win: 452.4500
2025-09-24 17:34:01,201 - mmdet - INFO - Epoch [21][2400/3517]	lr: 3.396e-06, eta: 2:36:20, time: 0.812, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1539, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2787, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3867, debug_std_frame_5: 0.4472, loss_rl: -0.2632, loss_critic: 1.7262, loss_rl_bc: 0.0027, il_score: 0.6406, rl_score: 0.6696, prev_frame_loss_waypoint_0: 0.1763, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.8267, grad_norm: 35.5758, il_score_sum: 67.0552, rl_score_sum: 68.8418, score_diff: -1.7866, il_win: 76.0000, rl_win: 452.4500
2025-09-24 17:34:17,328 - mmdet - INFO - Epoch [21][2420/3517]	lr: 3.396e-06, eta: 2:36:04, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1682, debug_std_frame_0: 0.2031, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2737, debug_std_frame_3: 0.3284, debug_std_frame_4: 0.3811, debug_std_frame_5: 0.4358, loss_rl: -0.2421, loss_critic: 1.3102, loss_rl_bc: 0.0077, il_score: 0.6537, rl_score: 0.6777, prev_frame_loss_waypoint_0: 0.1696, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.4425, grad_norm: 39.4487, il_score_sum: 67.0552, rl_score_sum: 68.8418, score_diff: -1.7866, il_win: 76.0000, rl_win: 452.4500
2025-09-24 17:34:33,346 - mmdet - INFO - Epoch [21][2440/3517]	lr: 3.396e-06, eta: 2:35:48, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1581, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2252, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3263, debug_std_frame_4: 0.3769, debug_std_frame_5: 0.4331, loss_rl: -0.2520, loss_critic: 1.9015, loss_rl_bc: 0.0060, il_score: 0.6412, rl_score: 0.6593, prev_frame_loss_waypoint_0: 0.1833, prev_frame_loss_rl_bc_0: 0.0093, loss: 2.0320, grad_norm: 45.6835, il_score_sum: 67.0552, rl_score_sum: 68.8418, score_diff: -1.7866, il_win: 76.0000, rl_win: 452.4500
2025-09-24 17:34:49,711 - mmdet - INFO - Epoch [21][2460/3517]	lr: 3.396e-06, eta: 2:35:32, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1691, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2731, debug_std_frame_3: 0.3241, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4370, loss_rl: -0.2559, loss_critic: 1.3467, loss_rl_bc: 0.0052, il_score: 0.6820, rl_score: 0.7032, prev_frame_loss_waypoint_0: 0.1671, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.4603, grad_norm: 52.5463, il_score_sum: 67.0490, rl_score_sum: 68.8797, score_diff: -1.8308, il_win: 76.0000, rl_win: 453.3000
2025-09-24 17:35:05,678 - mmdet - INFO - Epoch [21][2480/3517]	lr: 3.396e-06, eta: 2:35:16, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1674, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3784, debug_std_frame_5: 0.4364, loss_rl: -0.2452, loss_critic: 1.2540, loss_rl_bc: 0.0050, il_score: 0.6594, rl_score: 0.6806, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.3830, grad_norm: 35.2106, il_score_sum: 67.0490, rl_score_sum: 68.8797, score_diff: -1.8308, il_win: 76.0000, rl_win: 453.3000
2025-09-24 17:35:21,708 - mmdet - INFO - Epoch [21][2500/3517]	lr: 3.396e-06, eta: 2:35:00, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1741, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3886, debug_std_frame_5: 0.4506, loss_rl: -0.2640, loss_critic: 1.3003, loss_rl_bc: 0.0062, il_score: 0.6779, rl_score: 0.6872, prev_frame_loss_waypoint_0: 0.1871, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.4394, grad_norm: 47.7836, il_score_sum: 67.0490, rl_score_sum: 68.8797, score_diff: -1.8308, il_win: 76.0000, rl_win: 453.3000
2025-09-24 17:35:37,728 - mmdet - INFO - Epoch [21][2520/3517]	lr: 3.396e-06, eta: 2:34:44, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1505, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3233, debug_std_frame_4: 0.3738, debug_std_frame_5: 0.4288, loss_rl: -0.2745, loss_critic: 1.1428, loss_rl_bc: 0.0007, il_score: 0.6833, rl_score: 0.7151, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.2227, grad_norm: 41.9427, il_score_sum: 67.0490, rl_score_sum: 68.8797, score_diff: -1.8308, il_win: 76.0000, rl_win: 453.3000
2025-09-24 17:35:53,748 - mmdet - INFO - Epoch [21][2540/3517]	lr: 3.396e-06, eta: 2:34:28, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1726, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2731, debug_std_frame_3: 0.3280, debug_std_frame_4: 0.3832, debug_std_frame_5: 0.4446, loss_rl: -0.2635, loss_critic: 1.7113, loss_rl_bc: 0.0054, il_score: 0.6362, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.1973, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.8565, grad_norm: 42.9783, il_score_sum: 67.0490, rl_score_sum: 68.8797, score_diff: -1.8308, il_win: 76.0000, rl_win: 453.3000
2025-09-24 17:36:10,103 - mmdet - INFO - Epoch [21][2560/3517]	lr: 3.396e-06, eta: 2:34:12, time: 0.818, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1555, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3697, debug_std_frame_5: 0.4267, loss_rl: -0.2950, loss_critic: 1.1589, loss_rl_bc: 0.0029, il_score: 0.6999, rl_score: 0.7148, prev_frame_loss_waypoint_0: 0.1547, prev_frame_loss_rl_bc_0: -0.0003, loss: 1.2033, grad_norm: 35.4779, il_score_sum: 67.0435, rl_score_sum: 68.8986, score_diff: -1.8551, il_win: 76.0000, rl_win: 454.1500
2025-09-24 17:36:25,915 - mmdet - INFO - Epoch [21][2580/3517]	lr: 3.396e-06, eta: 2:33:56, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1713, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4368, loss_rl: -0.2826, loss_critic: 1.5881, loss_rl_bc: 0.0054, il_score: 0.6417, rl_score: 0.6641, prev_frame_loss_waypoint_0: 0.1645, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.6746, grad_norm: 47.5744, il_score_sum: 67.0435, rl_score_sum: 68.8986, score_diff: -1.8551, il_win: 76.0000, rl_win: 454.1500
2025-09-24 17:36:42,025 - mmdet - INFO - Epoch [21][2600/3517]	lr: 3.396e-06, eta: 2:33:40, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1702, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4346, loss_rl: -0.2236, loss_critic: 1.4235, loss_rl_bc: 0.0084, il_score: 0.6610, rl_score: 0.6615, prev_frame_loss_waypoint_0: 0.1782, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.5877, grad_norm: 44.3986, il_score_sum: 67.0435, rl_score_sum: 68.8986, score_diff: -1.8551, il_win: 76.0000, rl_win: 454.1500
2025-09-24 17:36:58,083 - mmdet - INFO - Epoch [21][2620/3517]	lr: 3.396e-06, eta: 2:33:23, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1772, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2285, debug_std_frame_2: 0.2783, debug_std_frame_3: 0.3278, debug_std_frame_4: 0.3814, debug_std_frame_5: 0.4395, loss_rl: -0.2448, loss_critic: 1.3178, loss_rl_bc: 0.0081, il_score: 0.6512, rl_score: 0.6657, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0107, loss: 1.4825, grad_norm: 43.9487, il_score_sum: 67.0435, rl_score_sum: 68.8986, score_diff: -1.8551, il_win: 76.0000, rl_win: 454.1500
2025-09-24 17:37:14,207 - mmdet - INFO - Epoch [21][2640/3517]	lr: 3.396e-06, eta: 2:33:07, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1676, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2262, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3308, debug_std_frame_4: 0.3844, debug_std_frame_5: 0.4445, loss_rl: -0.3009, loss_critic: 1.2739, loss_rl_bc: 0.0037, il_score: 0.6772, rl_score: 0.6991, prev_frame_loss_waypoint_0: 0.1727, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.3474, grad_norm: 41.7506, il_score_sum: 67.0435, rl_score_sum: 68.8986, score_diff: -1.8551, il_win: 76.0000, rl_win: 454.1500
2025-09-24 17:37:30,691 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 17:37:30,692 - mmdet - INFO - Epoch [21][2660/3517]	lr: 3.396e-06, eta: 2:32:51, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1495, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2659, debug_std_frame_3: 0.3144, debug_std_frame_4: 0.3620, debug_std_frame_5: 0.4138, loss_rl: -0.3100, loss_critic: 1.2914, loss_rl_bc: 0.0016, il_score: 0.6945, rl_score: 0.7129, prev_frame_loss_waypoint_0: 0.1760, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3401, grad_norm: 43.0621, il_score_sum: 66.9990, rl_score_sum: 68.8512, score_diff: -1.8523, il_win: 76.0000, rl_win: 455.0000
2025-09-24 17:37:46,371 - mmdet - INFO - Epoch [21][2680/3517]	lr: 3.396e-06, eta: 2:32:35, time: 0.784, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1681, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3221, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4353, loss_rl: -0.2823, loss_critic: 1.2951, loss_rl_bc: 0.0059, il_score: 0.6746, rl_score: 0.6995, prev_frame_loss_waypoint_0: 0.1824, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.4018, grad_norm: 42.7942, il_score_sum: 66.9990, rl_score_sum: 68.8512, score_diff: -1.8523, il_win: 76.0000, rl_win: 455.0000
2025-09-24 17:38:02,288 - mmdet - INFO - Epoch [21][2700/3517]	lr: 3.396e-06, eta: 2:32:19, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1444, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2701, debug_std_frame_3: 0.3194, debug_std_frame_4: 0.3697, debug_std_frame_5: 0.4245, loss_rl: -0.3099, loss_critic: 1.3874, loss_rl_bc: -0.0011, il_score: 0.6981, rl_score: 0.7110, prev_frame_loss_waypoint_0: 0.1800, prev_frame_loss_rl_bc_0: 0.0317, loss: 1.4575, grad_norm: 57.5860, il_score_sum: 66.9990, rl_score_sum: 68.8512, score_diff: -1.8523, il_win: 76.0000, rl_win: 455.0000
2025-09-24 17:38:18,400 - mmdet - INFO - Epoch [21][2720/3517]	lr: 3.396e-06, eta: 2:32:03, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1777, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2252, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3748, debug_std_frame_5: 0.4344, loss_rl: -0.2897, loss_critic: 1.1810, loss_rl_bc: 0.0273, il_score: 0.7027, rl_score: 0.7042, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0242, loss: 1.3322, grad_norm: 44.7003, il_score_sum: 66.9990, rl_score_sum: 68.8512, score_diff: -1.8523, il_win: 76.0000, rl_win: 455.0000
2025-09-24 17:38:34,391 - mmdet - INFO - Epoch [21][2740/3517]	lr: 3.396e-06, eta: 2:31:47, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1581, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2309, debug_std_frame_2: 0.2802, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3793, debug_std_frame_5: 0.4331, loss_rl: -0.2526, loss_critic: 1.1146, loss_rl_bc: 0.0021, il_score: 0.6944, rl_score: 0.7052, prev_frame_loss_waypoint_0: 0.1858, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.2440, grad_norm: 42.8329, il_score_sum: 66.9990, rl_score_sum: 68.8512, score_diff: -1.8523, il_win: 76.0000, rl_win: 455.0000
2025-09-24 17:38:50,712 - mmdet - INFO - Epoch [21][2760/3517]	lr: 3.396e-06, eta: 2:31:31, time: 0.816, data_time: 0.011, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1797, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2310, debug_std_frame_2: 0.2787, debug_std_frame_3: 0.3266, debug_std_frame_4: 0.3760, debug_std_frame_5: 0.4312, loss_rl: -0.2210, loss_critic: 1.7062, loss_rl_bc: 0.0152, il_score: 0.6050, rl_score: 0.6355, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0053, loss: 1.8897, grad_norm: 42.5509, il_score_sum: 66.9667, rl_score_sum: 68.8348, score_diff: -1.8681, il_win: 76.0000, rl_win: 455.8500
2025-09-24 17:39:06,413 - mmdet - INFO - Epoch [21][2780/3517]	lr: 3.396e-06, eta: 2:31:15, time: 0.785, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1692, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2324, debug_std_frame_2: 0.2861, debug_std_frame_3: 0.3421, debug_std_frame_4: 0.3976, debug_std_frame_5: 0.4610, loss_rl: -0.2500, loss_critic: 1.3915, loss_rl_bc: 0.0056, il_score: 0.6745, rl_score: 0.6956, prev_frame_loss_waypoint_0: 0.1953, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.5470, grad_norm: 41.2156, il_score_sum: 66.9667, rl_score_sum: 68.8348, score_diff: -1.8681, il_win: 76.0000, rl_win: 455.8500
2025-09-24 17:39:22,402 - mmdet - INFO - Epoch [21][2800/3517]	lr: 3.396e-06, eta: 2:30:59, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1493, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3306, debug_std_frame_4: 0.3845, debug_std_frame_5: 0.4434, loss_rl: -0.2852, loss_critic: 1.5424, loss_rl_bc: 0.0007, il_score: 0.6726, rl_score: 0.6845, prev_frame_loss_waypoint_0: 0.1616, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.5956, grad_norm: 42.0533, il_score_sum: 66.9667, rl_score_sum: 68.8348, score_diff: -1.8681, il_win: 76.0000, rl_win: 455.8500
2025-09-24 17:39:38,309 - mmdet - INFO - Epoch [21][2820/3517]	lr: 3.396e-06, eta: 2:30:43, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1637, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2275, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4319, loss_rl: -0.2440, loss_critic: 1.4338, loss_rl_bc: 0.0065, il_score: 0.6612, rl_score: 0.6706, prev_frame_loss_waypoint_0: 0.1978, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.5931, grad_norm: 42.6363, il_score_sum: 66.9667, rl_score_sum: 68.8348, score_diff: -1.8681, il_win: 76.0000, rl_win: 455.8500
2025-09-24 17:39:54,114 - mmdet - INFO - Epoch [21][2840/3517]	lr: 3.396e-06, eta: 2:30:26, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1740, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2312, debug_std_frame_2: 0.2828, debug_std_frame_3: 0.3344, debug_std_frame_4: 0.3870, debug_std_frame_5: 0.4449, loss_rl: -0.2409, loss_critic: 1.2827, loss_rl_bc: 0.0063, il_score: 0.6249, rl_score: 0.6605, prev_frame_loss_waypoint_0: 0.1795, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.4328, grad_norm: 42.2314, il_score_sum: 66.9667, rl_score_sum: 68.8348, score_diff: -1.8681, il_win: 76.0000, rl_win: 455.8500
2025-09-24 17:40:10,210 - mmdet - INFO - Epoch [21][2860/3517]	lr: 3.396e-06, eta: 2:30:10, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1467, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3180, debug_std_frame_4: 0.3695, debug_std_frame_5: 0.4206, loss_rl: -0.3236, loss_critic: 1.4334, loss_rl_bc: -0.0000, il_score: 0.6838, rl_score: 0.7116, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4668, grad_norm: 39.5013, il_score_sum: 66.9623, rl_score_sum: 68.7648, score_diff: -1.8025, il_win: 76.0000, rl_win: 456.7000
2025-09-24 17:40:26,192 - mmdet - INFO - Epoch [21][2880/3517]	lr: 3.396e-06, eta: 2:29:54, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1467, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4188, loss_rl: -0.2804, loss_critic: 1.2990, loss_rl_bc: 0.0005, il_score: 0.6594, rl_score: 0.6938, prev_frame_loss_waypoint_0: 0.1515, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.3436, grad_norm: 35.0460, il_score_sum: 66.9623, rl_score_sum: 68.7648, score_diff: -1.8025, il_win: 76.0000, rl_win: 456.7000
2025-09-24 17:40:42,173 - mmdet - INFO - Epoch [21][2900/3517]	lr: 3.396e-06, eta: 2:29:38, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1836, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2288, debug_std_frame_2: 0.2762, debug_std_frame_3: 0.3246, debug_std_frame_4: 0.3755, debug_std_frame_5: 0.4303, loss_rl: -0.2971, loss_critic: 1.4734, loss_rl_bc: 0.0085, il_score: 0.6668, rl_score: 0.6953, prev_frame_loss_waypoint_0: 0.1846, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.5857, grad_norm: 37.5619, il_score_sum: 66.9623, rl_score_sum: 68.7648, score_diff: -1.8025, il_win: 76.0000, rl_win: 456.7000
2025-09-24 17:40:58,132 - mmdet - INFO - Epoch [21][2920/3517]	lr: 3.396e-06, eta: 2:29:22, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1699, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2303, debug_std_frame_2: 0.2830, debug_std_frame_3: 0.3368, debug_std_frame_4: 0.3917, debug_std_frame_5: 0.4482, loss_rl: -0.2334, loss_critic: 1.1743, loss_rl_bc: 0.0038, il_score: 0.6739, rl_score: 0.6771, prev_frame_loss_waypoint_0: 0.1773, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.3239, grad_norm: 52.9240, il_score_sum: 66.9623, rl_score_sum: 68.7648, score_diff: -1.8025, il_win: 76.0000, rl_win: 456.7000
2025-09-24 17:41:14,051 - mmdet - INFO - Epoch [21][2940/3517]	lr: 3.396e-06, eta: 2:29:06, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1767, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2895, debug_std_frame_3: 0.3464, debug_std_frame_4: 0.4013, debug_std_frame_5: 0.4639, loss_rl: -0.2303, loss_critic: 1.4466, loss_rl_bc: 0.0052, il_score: 0.6296, rl_score: 0.6579, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.6238, grad_norm: 48.7660, il_score_sum: 66.9623, rl_score_sum: 68.7648, score_diff: -1.8025, il_win: 76.0000, rl_win: 456.7000
2025-09-24 17:41:30,419 - mmdet - INFO - Epoch [21][2960/3517]	lr: 3.396e-06, eta: 2:28:50, time: 0.819, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1680, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3302, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4416, loss_rl: -0.2652, loss_critic: 1.4166, loss_rl_bc: 0.0100, il_score: 0.6305, rl_score: 0.6645, prev_frame_loss_waypoint_0: 0.1976, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.5623, grad_norm: 43.0003, il_score_sum: 66.8175, rl_score_sum: 68.6686, score_diff: -1.8511, il_win: 76.0000, rl_win: 457.5500
2025-09-24 17:41:46,292 - mmdet - INFO - Epoch [21][2980/3517]	lr: 3.396e-06, eta: 2:28:34, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1647, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2720, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4248, loss_rl: -0.2582, loss_critic: 1.1563, loss_rl_bc: 0.0061, il_score: 0.6674, rl_score: 0.7284, prev_frame_loss_waypoint_0: 0.1614, prev_frame_loss_rl_bc_0: 0.0013, loss: 1.2568, grad_norm: 52.0498, il_score_sum: 66.8175, rl_score_sum: 68.6686, score_diff: -1.8511, il_win: 76.0000, rl_win: 457.5500
2025-09-24 17:42:02,330 - mmdet - INFO - Epoch [21][3000/3517]	lr: 3.396e-06, eta: 2:28:18, time: 0.802, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1580, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2254, debug_std_frame_2: 0.2780, debug_std_frame_3: 0.3310, debug_std_frame_4: 0.3841, debug_std_frame_5: 0.4422, loss_rl: -0.2231, loss_critic: 1.5716, loss_rl_bc: 0.0058, il_score: 0.6983, rl_score: 0.6961, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.7361, grad_norm: 39.7935, il_score_sum: 66.8175, rl_score_sum: 68.6686, score_diff: -1.8511, il_win: 76.0000, rl_win: 457.5500
2025-09-24 17:42:18,230 - mmdet - INFO - Epoch [21][3020/3517]	lr: 3.396e-06, eta: 2:28:02, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1422, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3703, debug_std_frame_5: 0.4245, loss_rl: -0.2826, loss_critic: 1.2544, loss_rl_bc: -0.0007, il_score: 0.6806, rl_score: 0.6865, prev_frame_loss_waypoint_0: 0.1656, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.3081, grad_norm: 38.5188, il_score_sum: 66.8175, rl_score_sum: 68.6686, score_diff: -1.8511, il_win: 76.0000, rl_win: 457.5500
2025-09-24 17:42:34,289 - mmdet - INFO - Epoch [21][3040/3517]	lr: 3.396e-06, eta: 2:27:46, time: 0.804, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1723, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2277, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3213, debug_std_frame_4: 0.3697, debug_std_frame_5: 0.4242, loss_rl: -0.2331, loss_critic: 1.3438, loss_rl_bc: 0.0083, il_score: 0.6622, rl_score: 0.6621, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.4901, grad_norm: 42.0384, il_score_sum: 66.8175, rl_score_sum: 68.6686, score_diff: -1.8511, il_win: 76.0000, rl_win: 457.5500
2025-09-24 17:42:50,643 - mmdet - INFO - Epoch [21][3060/3517]	lr: 3.396e-06, eta: 2:27:30, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1415, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3634, debug_std_frame_5: 0.4153, loss_rl: -0.3026, loss_critic: 1.3323, loss_rl_bc: 0.0016, il_score: 0.6644, rl_score: 0.6936, prev_frame_loss_waypoint_0: 0.1597, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.3587, grad_norm: 37.9311, il_score_sum: 66.9133, rl_score_sum: 68.7226, score_diff: -1.8093, il_win: 76.0000, rl_win: 458.4000
2025-09-24 17:43:06,383 - mmdet - INFO - Epoch [21][3080/3517]	lr: 3.396e-06, eta: 2:27:13, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1506, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2714, debug_std_frame_3: 0.3209, debug_std_frame_4: 0.3733, debug_std_frame_5: 0.4264, loss_rl: -0.2878, loss_critic: 1.3028, loss_rl_bc: -0.0009, il_score: 0.6651, rl_score: 0.6992, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.3690, grad_norm: 48.5110, il_score_sum: 66.9133, rl_score_sum: 68.7226, score_diff: -1.8093, il_win: 76.0000, rl_win: 458.4000
2025-09-24 17:43:22,363 - mmdet - INFO - Epoch [21][3100/3517]	lr: 3.396e-06, eta: 2:26:57, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1768, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2683, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3662, debug_std_frame_5: 0.4218, loss_rl: -0.2621, loss_critic: 1.0900, loss_rl_bc: 0.0066, il_score: 0.6582, rl_score: 0.6846, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.2169, grad_norm: 39.4708, il_score_sum: 66.9133, rl_score_sum: 68.7226, score_diff: -1.8093, il_win: 76.0000, rl_win: 458.4000
2025-09-24 17:43:38,463 - mmdet - INFO - Epoch [21][3120/3517]	lr: 3.396e-06, eta: 2:26:41, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1659, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2262, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3755, debug_std_frame_5: 0.4316, loss_rl: -0.2176, loss_critic: 1.3653, loss_rl_bc: 0.0091, il_score: 0.6683, rl_score: 0.6801, prev_frame_loss_waypoint_0: 0.1695, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.5250, grad_norm: 38.5836, il_score_sum: 66.9133, rl_score_sum: 68.7226, score_diff: -1.8093, il_win: 76.0000, rl_win: 458.4000
2025-09-24 17:43:54,486 - mmdet - INFO - Epoch [21][3140/3517]	lr: 3.396e-06, eta: 2:26:25, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1453, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2668, debug_std_frame_3: 0.3100, debug_std_frame_4: 0.3571, debug_std_frame_5: 0.4069, loss_rl: -0.3084, loss_critic: 1.3252, loss_rl_bc: 0.0005, il_score: 0.6659, rl_score: 0.6861, prev_frame_loss_waypoint_0: 0.1629, prev_frame_loss_rl_bc_0: 0.0023, loss: 1.3530, grad_norm: 35.4492, il_score_sum: 66.9133, rl_score_sum: 68.7226, score_diff: -1.8093, il_win: 76.0000, rl_win: 458.4000
2025-09-24 17:44:10,690 - mmdet - INFO - Epoch [21][3160/3517]	lr: 3.396e-06, eta: 2:26:09, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1870, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2278, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3323, debug_std_frame_4: 0.3852, debug_std_frame_5: 0.4447, loss_rl: -0.2111, loss_critic: 1.4936, loss_rl_bc: 0.0143, il_score: 0.6105, rl_score: 0.6238, prev_frame_loss_waypoint_0: 0.1952, prev_frame_loss_rl_bc_0: 0.0100, loss: 1.7137, grad_norm: 53.9496, il_score_sum: 66.8263, rl_score_sum: 68.6490, score_diff: -1.8226, il_win: 76.0000, rl_win: 459.2500
2025-09-24 17:44:26,419 - mmdet - INFO - Epoch [21][3180/3517]	lr: 3.396e-06, eta: 2:25:53, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1608, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3153, debug_std_frame_4: 0.3642, debug_std_frame_5: 0.4161, loss_rl: -0.2733, loss_critic: 1.8175, loss_rl_bc: 0.0422, il_score: 0.6634, rl_score: 0.6491, prev_frame_loss_waypoint_0: 0.1761, prev_frame_loss_rl_bc_0: 0.0335, loss: 1.9841, grad_norm: 44.8180, il_score_sum: 66.8263, rl_score_sum: 68.6490, score_diff: -1.8226, il_win: 76.0000, rl_win: 459.2500
2025-09-24 17:44:42,372 - mmdet - INFO - Epoch [21][3200/3517]	lr: 3.396e-06, eta: 2:25:37, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1589, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2720, debug_std_frame_3: 0.3229, debug_std_frame_4: 0.3742, debug_std_frame_5: 0.4319, loss_rl: -0.2671, loss_critic: 1.4386, loss_rl_bc: 0.0045, il_score: 0.6699, rl_score: 0.6713, prev_frame_loss_waypoint_0: 0.1818, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.5489, grad_norm: 27.9063, il_score_sum: 66.8263, rl_score_sum: 68.6490, score_diff: -1.8226, il_win: 76.0000, rl_win: 459.2500
2025-09-24 17:44:58,497 - mmdet - INFO - Epoch [21][3220/3517]	lr: 3.396e-06, eta: 2:25:21, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1550, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4356, loss_rl: -0.2874, loss_critic: 1.1898, loss_rl_bc: 0.0018, il_score: 0.6851, rl_score: 0.7018, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.2613, grad_norm: 38.4493, il_score_sum: 66.8263, rl_score_sum: 68.6490, score_diff: -1.8226, il_win: 76.0000, rl_win: 459.2500
2025-09-24 17:45:14,561 - mmdet - INFO - Epoch [21][3240/3517]	lr: 3.396e-06, eta: 2:25:05, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1566, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2264, debug_std_frame_2: 0.2732, debug_std_frame_3: 0.3251, debug_std_frame_4: 0.3804, debug_std_frame_5: 0.4391, loss_rl: -0.2743, loss_critic: 1.2023, loss_rl_bc: 0.0030, il_score: 0.6719, rl_score: 0.6910, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.2943, grad_norm: 36.5025, il_score_sum: 66.8263, rl_score_sum: 68.6490, score_diff: -1.8226, il_win: 76.0000, rl_win: 459.2500
2025-09-24 17:45:30,742 - mmdet - INFO - Epoch [21][3260/3517]	lr: 3.396e-06, eta: 2:24:49, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1873, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2251, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3308, debug_std_frame_4: 0.3867, debug_std_frame_5: 0.4464, loss_rl: -0.2107, loss_critic: 1.3818, loss_rl_bc: 0.0113, il_score: 0.6583, rl_score: 0.6587, prev_frame_loss_waypoint_0: 0.1765, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.5785, grad_norm: 35.7974, il_score_sum: 66.8469, rl_score_sum: 68.6085, score_diff: -1.7617, il_win: 76.0000, rl_win: 460.0500
2025-09-24 17:45:46,716 - mmdet - INFO - Epoch [21][3280/3517]	lr: 3.396e-06, eta: 2:24:33, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1460, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2672, debug_std_frame_3: 0.3152, debug_std_frame_4: 0.3638, debug_std_frame_5: 0.4162, loss_rl: -0.3180, loss_critic: 1.4864, loss_rl_bc: -0.0005, il_score: 0.6817, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1504, prev_frame_loss_rl_bc_0: -0.0007, loss: 1.4894, grad_norm: 41.0414, il_score_sum: 66.8469, rl_score_sum: 68.6085, score_diff: -1.7617, il_win: 76.0000, rl_win: 460.0500
2025-09-24 17:46:02,804 - mmdet - INFO - Epoch [21][3300/3517]	lr: 3.396e-06, eta: 2:24:16, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1468, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2664, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3677, debug_std_frame_5: 0.4200, loss_rl: -0.2879, loss_critic: 1.4983, loss_rl_bc: 0.0026, il_score: 0.6816, rl_score: 0.7052, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0259, loss: 1.5872, grad_norm: 31.5854, il_score_sum: 66.8469, rl_score_sum: 68.6085, score_diff: -1.7617, il_win: 76.0000, rl_win: 460.0500
2025-09-24 17:46:18,730 - mmdet - INFO - Epoch [21][3320/3517]	lr: 3.396e-06, eta: 2:24:00, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1601, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3262, debug_std_frame_4: 0.3816, debug_std_frame_5: 0.4428, loss_rl: -0.2503, loss_critic: 1.2522, loss_rl_bc: 0.0029, il_score: 0.6790, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.3684, grad_norm: 33.5367, il_score_sum: 66.8469, rl_score_sum: 68.6085, score_diff: -1.7617, il_win: 76.0000, rl_win: 460.0500
2025-09-24 17:46:34,559 - mmdet - INFO - Epoch [21][3340/3517]	lr: 3.396e-06, eta: 2:23:44, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1707, debug_std_frame_0: 0.2111, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2694, debug_std_frame_3: 0.3154, debug_std_frame_4: 0.3632, debug_std_frame_5: 0.4166, loss_rl: -0.2250, loss_critic: 1.3190, loss_rl_bc: 0.0111, il_score: 0.6430, rl_score: 0.6607, prev_frame_loss_waypoint_0: 0.1621, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.4680, grad_norm: 33.8688, il_score_sum: 66.8469, rl_score_sum: 68.6085, score_diff: -1.7617, il_win: 76.0000, rl_win: 460.0500
2025-09-24 17:46:50,938 - mmdet - INFO - Epoch [21][3360/3517]	lr: 3.396e-06, eta: 2:23:28, time: 0.819, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1571, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3169, debug_std_frame_4: 0.3661, debug_std_frame_5: 0.4179, loss_rl: -0.2884, loss_critic: 1.4625, loss_rl_bc: 0.0055, il_score: 0.6738, rl_score: 0.7016, prev_frame_loss_waypoint_0: 0.1642, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.5292, grad_norm: 35.3222, il_score_sum: 66.8398, rl_score_sum: 68.6595, score_diff: -1.8197, il_win: 76.0000, rl_win: 460.9000
2025-09-24 17:47:06,709 - mmdet - INFO - Epoch [21][3380/3517]	lr: 3.396e-06, eta: 2:23:12, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1586, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3191, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4305, loss_rl: -0.2955, loss_critic: 1.2514, loss_rl_bc: 0.0041, il_score: 0.7163, rl_score: 0.7090, prev_frame_loss_waypoint_0: 0.1652, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.3122, grad_norm: 42.2035, il_score_sum: 66.8398, rl_score_sum: 68.6595, score_diff: -1.8197, il_win: 76.0000, rl_win: 460.9000
2025-09-24 17:47:22,656 - mmdet - INFO - Epoch [21][3400/3517]	lr: 3.396e-06, eta: 2:22:56, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1695, debug_std_frame_0: 0.2127, debug_std_frame_1: 0.2299, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3257, debug_std_frame_4: 0.3780, debug_std_frame_5: 0.4361, loss_rl: -0.2181, loss_critic: 1.2399, loss_rl_bc: 0.0067, il_score: 0.6696, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.4170, grad_norm: 44.5696, il_score_sum: 66.8398, rl_score_sum: 68.6595, score_diff: -1.8197, il_win: 76.0000, rl_win: 460.9000
2025-09-24 17:47:38,647 - mmdet - INFO - Epoch [21][3420/3517]	lr: 3.396e-06, eta: 2:22:40, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1552, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2772, debug_std_frame_3: 0.3293, debug_std_frame_4: 0.3830, debug_std_frame_5: 0.4415, loss_rl: -0.2434, loss_critic: 1.5702, loss_rl_bc: 0.0028, il_score: 0.6370, rl_score: 0.6564, prev_frame_loss_waypoint_0: 0.1720, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.6864, grad_norm: 34.9797, il_score_sum: 66.8398, rl_score_sum: 68.6595, score_diff: -1.8197, il_win: 76.0000, rl_win: 460.9000
2025-09-24 17:47:54,704 - mmdet - INFO - Epoch [21][3440/3517]	lr: 3.396e-06, eta: 2:22:24, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1683, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3795, debug_std_frame_5: 0.4372, loss_rl: -0.2836, loss_critic: 1.1946, loss_rl_bc: 0.0082, il_score: 0.6937, rl_score: 0.7001, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.3023, grad_norm: 41.6400, il_score_sum: 66.8398, rl_score_sum: 68.6595, score_diff: -1.8197, il_win: 76.0000, rl_win: 460.9000
2025-09-24 17:48:10,867 - mmdet - INFO - Epoch [21][3460/3517]	lr: 3.396e-06, eta: 2:22:08, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1619, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2732, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3768, debug_std_frame_5: 0.4332, loss_rl: -0.2484, loss_critic: 1.4731, loss_rl_bc: 0.0053, il_score: 0.6400, rl_score: 0.6639, prev_frame_loss_waypoint_0: 0.1582, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.5763, grad_norm: 41.5881, il_score_sum: 66.8281, rl_score_sum: 68.5972, score_diff: -1.7691, il_win: 76.0000, rl_win: 461.7500
2025-09-24 17:48:26,631 - mmdet - INFO - Epoch [21][3480/3517]	lr: 3.396e-06, eta: 2:21:52, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1583, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3168, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4221, loss_rl: -0.2625, loss_critic: 1.5855, loss_rl_bc: 0.0033, il_score: 0.6570, rl_score: 0.6748, prev_frame_loss_waypoint_0: 0.1619, prev_frame_loss_rl_bc_0: -0.0002, loss: 1.6726, grad_norm: 32.5572, il_score_sum: 66.8281, rl_score_sum: 68.5972, score_diff: -1.7691, il_win: 76.0000, rl_win: 461.7500
2025-09-24 17:48:42,466 - mmdet - INFO - Epoch [21][3500/3517]	lr: 3.396e-06, eta: 2:21:36, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1536, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2717, debug_std_frame_3: 0.3226, debug_std_frame_4: 0.3745, debug_std_frame_5: 0.4308, loss_rl: -0.3115, loss_critic: 1.4397, loss_rl_bc: 0.0026, il_score: 0.6596, rl_score: 0.6870, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.4913, grad_norm: 35.4517, il_score_sum: 66.8281, rl_score_sum: 68.5972, score_diff: -1.7691, il_win: 76.0000, rl_win: 461.7500
2025-09-24 17:48:55,721 - mmdet - INFO - Saving checkpoint at 21 epochs
2025-09-24 17:51:29,220 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 17:51:29,220 - mmdet - INFO - Epoch(val) [21][753]	plan_L2_1s: 0.2884, plan_L2_2s: 0.5868, plan_L2_3s: 1.0005, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0006, plan_obj_box_col_2s: 0.0010, plan_obj_box_col_3s: 0.0037, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.2955, plan_L2_2s_rl_actor: 0.5992, plan_L2_3s_rl_actor: 1.0168, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0091, plan_obj_box_col_2s_rl_actor: 0.0111, plan_obj_box_col_3s_rl_actor: 0.0144, fut_valid_flag_rl_actor: 1.0000
2025-09-24 17:51:53,328 - mmdet - INFO - Epoch [22][20/3517]	lr: 1.951e-06, eta: 2:21:05, time: 1.205, data_time: 0.358, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1381, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2606, debug_std_frame_3: 0.3053, debug_std_frame_4: 0.3510, debug_std_frame_5: 0.4012, loss_rl: -0.2769, loss_critic: 1.5736, loss_rl_bc: 0.0004, il_score: 0.6398, rl_score: 0.6801, prev_frame_loss_waypoint_0: 0.1458, prev_frame_loss_rl_bc_0: -0.0021, loss: 1.6042, grad_norm: 34.3342
2025-09-24 17:52:09,822 - mmdet - INFO - Epoch [22][40/3517]	lr: 1.951e-06, eta: 2:20:49, time: 0.824, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1649, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4307, loss_rl: -0.2905, loss_critic: 1.8577, loss_rl_bc: 0.0094, il_score: 0.6446, rl_score: 0.6661, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.9393, grad_norm: 39.8047
2025-09-24 17:52:26,614 - mmdet - INFO - Epoch [22][60/3517]	lr: 1.951e-06, eta: 2:20:33, time: 0.839, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1551, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3163, debug_std_frame_4: 0.3667, debug_std_frame_5: 0.4211, loss_rl: -0.2722, loss_critic: 1.3223, loss_rl_bc: 0.0023, il_score: 0.6900, rl_score: 0.6868, prev_frame_loss_waypoint_0: 0.1663, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.4019, grad_norm: 42.8338, il_score_sum: 64.6078, rl_score_sum: 66.9936, score_diff: -2.3858, il_win: 76.0000, rl_win: 471.0000
2025-09-24 17:52:43,028 - mmdet - INFO - Epoch [22][80/3517]	lr: 1.951e-06, eta: 2:20:17, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1548, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4237, loss_rl: -0.2779, loss_critic: 1.3363, loss_rl_bc: 0.0014, il_score: 0.6844, rl_score: 0.7000, prev_frame_loss_waypoint_0: 0.1606, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.4023, grad_norm: 45.3376, il_score_sum: 64.6078, rl_score_sum: 66.9936, score_diff: -2.3858, il_win: 76.0000, rl_win: 471.0000
2025-09-24 17:52:59,519 - mmdet - INFO - Epoch [22][100/3517]	lr: 1.951e-06, eta: 2:20:01, time: 0.824, data_time: 0.014, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1536, debug_std_frame_0: 0.2043, debug_std_frame_1: 0.2154, debug_std_frame_2: 0.2633, debug_std_frame_3: 0.3158, debug_std_frame_4: 0.3676, debug_std_frame_5: 0.4239, loss_rl: -0.2886, loss_critic: 1.2522, loss_rl_bc: -0.0002, il_score: 0.6834, rl_score: 0.7191, prev_frame_loss_waypoint_0: 0.1646, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.3133, grad_norm: 34.9981, il_score_sum: 64.6078, rl_score_sum: 66.9936, score_diff: -2.3858, il_win: 76.0000, rl_win: 471.0000
2025-09-24 17:53:15,734 - mmdet - INFO - Epoch [22][120/3517]	lr: 1.951e-06, eta: 2:19:45, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1451, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2626, debug_std_frame_3: 0.3131, debug_std_frame_4: 0.3616, debug_std_frame_5: 0.4182, loss_rl: -0.2758, loss_critic: 1.4216, loss_rl_bc: 0.0035, il_score: 0.6690, rl_score: 0.6708, prev_frame_loss_waypoint_0: 0.1604, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.4815, grad_norm: 31.5267, il_score_sum: 64.6078, rl_score_sum: 66.9936, score_diff: -2.3858, il_win: 76.0000, rl_win: 471.0000
2025-09-24 17:53:32,333 - mmdet - INFO - Epoch [22][140/3517]	lr: 1.951e-06, eta: 2:19:29, time: 0.830, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1592, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3739, debug_std_frame_5: 0.4315, loss_rl: -0.2889, loss_critic: 1.3380, loss_rl_bc: 0.0060, il_score: 0.6688, rl_score: 0.6977, prev_frame_loss_waypoint_0: 0.1764, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.4222, grad_norm: 37.6553, il_score_sum: 64.6078, rl_score_sum: 66.9936, score_diff: -2.3858, il_win: 76.0000, rl_win: 471.0000
2025-09-24 17:53:48,760 - mmdet - INFO - Epoch [22][160/3517]	lr: 1.951e-06, eta: 2:19:13, time: 0.821, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1759, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3290, debug_std_frame_4: 0.3802, debug_std_frame_5: 0.4363, loss_rl: -0.2308, loss_critic: 1.1987, loss_rl_bc: 0.0072, il_score: 0.6333, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.3706, grad_norm: 45.2420, il_score_sum: 66.3754, rl_score_sum: 68.4049, score_diff: -2.0295, il_win: 76.0000, rl_win: 471.5000
2025-09-24 17:54:04,970 - mmdet - INFO - Epoch [22][180/3517]	lr: 1.951e-06, eta: 2:18:57, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1879, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4330, loss_rl: -0.2747, loss_critic: 1.2581, loss_rl_bc: 0.0216, il_score: 0.6568, rl_score: 0.7027, prev_frame_loss_waypoint_0: 0.1942, prev_frame_loss_rl_bc_0: 0.0215, loss: 1.4341, grad_norm: 34.6238, il_score_sum: 66.3754, rl_score_sum: 68.4049, score_diff: -2.0295, il_win: 76.0000, rl_win: 471.5000
2025-09-24 17:54:21,516 - mmdet - INFO - Epoch [22][200/3517]	lr: 1.951e-06, eta: 2:18:41, time: 0.827, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1664, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3211, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4278, loss_rl: -0.2523, loss_critic: 1.1574, loss_rl_bc: 0.0066, il_score: 0.6622, rl_score: 0.6839, prev_frame_loss_waypoint_0: 0.1741, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.2842, grad_norm: 38.3184, il_score_sum: 66.3754, rl_score_sum: 68.4049, score_diff: -2.0295, il_win: 76.0000, rl_win: 471.5000
2025-09-24 17:54:38,018 - mmdet - INFO - Epoch [22][220/3517]	lr: 1.951e-06, eta: 2:18:25, time: 0.826, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1550, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3242, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4321, loss_rl: -0.2876, loss_critic: 1.4162, loss_rl_bc: 0.0026, il_score: 0.6699, rl_score: 0.6880, prev_frame_loss_waypoint_0: 0.1715, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.4885, grad_norm: 38.2992, il_score_sum: 66.3754, rl_score_sum: 68.4049, score_diff: -2.0295, il_win: 76.0000, rl_win: 471.5000
2025-09-24 17:54:54,380 - mmdet - INFO - Epoch [22][240/3517]	lr: 1.951e-06, eta: 2:18:09, time: 0.817, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1524, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2672, debug_std_frame_3: 0.3180, debug_std_frame_4: 0.3685, debug_std_frame_5: 0.4243, loss_rl: -0.3014, loss_critic: 1.6019, loss_rl_bc: 0.0042, il_score: 0.6404, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.6621, grad_norm: 39.2607, il_score_sum: 66.3754, rl_score_sum: 68.4049, score_diff: -2.0295, il_win: 76.0000, rl_win: 471.5000
2025-09-24 17:55:10,755 - mmdet - INFO - Epoch [22][260/3517]	lr: 1.951e-06, eta: 2:17:53, time: 0.819, data_time: 0.014, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1557, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2775, debug_std_frame_3: 0.3314, debug_std_frame_4: 0.3852, debug_std_frame_5: 0.4453, loss_rl: -0.2823, loss_critic: 1.0549, loss_rl_bc: 0.0028, il_score: 0.6808, rl_score: 0.7103, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.1338, grad_norm: 46.4101, il_score_sum: 65.9969, rl_score_sum: 68.3824, score_diff: -2.3855, il_win: 76.0000, rl_win: 472.0000
2025-09-24 17:55:27,156 - mmdet - INFO - Epoch [22][280/3517]	lr: 1.951e-06, eta: 2:17:37, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1679, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3164, debug_std_frame_4: 0.3621, debug_std_frame_5: 0.4128, loss_rl: -0.2845, loss_critic: 1.0696, loss_rl_bc: 0.0054, il_score: 0.6604, rl_score: 0.7052, prev_frame_loss_waypoint_0: 0.1741, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.1616, grad_norm: 43.4818, il_score_sum: 65.9969, rl_score_sum: 68.3824, score_diff: -2.3855, il_win: 76.0000, rl_win: 472.0000
2025-09-24 17:55:43,539 - mmdet - INFO - Epoch [22][300/3517]	lr: 1.951e-06, eta: 2:17:21, time: 0.819, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1655, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2666, debug_std_frame_3: 0.3183, debug_std_frame_4: 0.3702, debug_std_frame_5: 0.4286, loss_rl: -0.2707, loss_critic: 1.6337, loss_rl_bc: 0.0121, il_score: 0.6894, rl_score: 0.6652, prev_frame_loss_waypoint_0: 0.1747, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.7478, grad_norm: 38.4036, il_score_sum: 65.9969, rl_score_sum: 68.3824, score_diff: -2.3855, il_win: 76.0000, rl_win: 472.0000
2025-09-24 17:55:59,977 - mmdet - INFO - Epoch [22][320/3517]	lr: 1.951e-06, eta: 2:17:05, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1648, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2746, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3733, debug_std_frame_5: 0.4291, loss_rl: -0.2713, loss_critic: 1.5376, loss_rl_bc: 0.0082, il_score: 0.6524, rl_score: 0.6633, prev_frame_loss_waypoint_0: 0.1639, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.6324, grad_norm: 33.3385, il_score_sum: 65.9969, rl_score_sum: 68.3824, score_diff: -2.3855, il_win: 76.0000, rl_win: 472.0000
2025-09-24 17:56:16,772 - mmdet - INFO - Epoch [22][340/3517]	lr: 1.951e-06, eta: 2:16:49, time: 0.840, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1704, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3674, debug_std_frame_5: 0.4200, loss_rl: -0.2512, loss_critic: 1.4348, loss_rl_bc: 0.0068, il_score: 0.6687, rl_score: 0.6919, prev_frame_loss_waypoint_0: 0.1697, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.5610, grad_norm: 42.8587, il_score_sum: 65.9969, rl_score_sum: 68.3824, score_diff: -2.3855, il_win: 76.0000, rl_win: 472.0000
2025-09-24 17:56:33,627 - mmdet - INFO - Epoch [22][360/3517]	lr: 1.951e-06, eta: 2:16:33, time: 0.843, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1598, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4319, loss_rl: -0.2404, loss_critic: 1.2150, loss_rl_bc: 0.0049, il_score: 0.6738, rl_score: 0.6800, prev_frame_loss_waypoint_0: 0.1617, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.3291, grad_norm: 47.9331, il_score_sum: 66.2999, rl_score_sum: 68.4597, score_diff: -2.1598, il_win: 76.0000, rl_win: 472.5000
2025-09-24 17:56:50,281 - mmdet - INFO - Epoch [22][380/3517]	lr: 1.951e-06, eta: 2:16:17, time: 0.833, data_time: 0.014, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1651, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3753, debug_std_frame_5: 0.4320, loss_rl: -0.2234, loss_critic: 1.3987, loss_rl_bc: 0.0092, il_score: 0.6185, rl_score: 0.6588, prev_frame_loss_waypoint_0: 0.1790, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.5612, grad_norm: 38.1996, il_score_sum: 66.2999, rl_score_sum: 68.4597, score_diff: -2.1598, il_win: 76.0000, rl_win: 472.5000
2025-09-24 17:57:06,713 - mmdet - INFO - Epoch [22][400/3517]	lr: 1.951e-06, eta: 2:16:01, time: 0.822, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1456, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2783, debug_std_frame_3: 0.3306, debug_std_frame_4: 0.3854, debug_std_frame_5: 0.4427, loss_rl: -0.2586, loss_critic: 1.4450, loss_rl_bc: 0.0012, il_score: 0.6879, rl_score: 0.7031, prev_frame_loss_waypoint_0: 0.1597, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.5190, grad_norm: 41.0161, il_score_sum: 66.2999, rl_score_sum: 68.4597, score_diff: -2.1598, il_win: 76.0000, rl_win: 472.5000
2025-09-24 17:57:23,247 - mmdet - INFO - Epoch [22][420/3517]	lr: 1.951e-06, eta: 2:15:45, time: 0.827, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1778, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2274, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3724, debug_std_frame_5: 0.4266, loss_rl: -0.2615, loss_critic: 1.4158, loss_rl_bc: 0.0110, il_score: 0.6656, rl_score: 0.6666, prev_frame_loss_waypoint_0: 0.1969, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.5784, grad_norm: 34.0848, il_score_sum: 66.2999, rl_score_sum: 68.4597, score_diff: -2.1598, il_win: 76.0000, rl_win: 472.5000
2025-09-24 17:57:40,199 - mmdet - INFO - Epoch [22][440/3517]	lr: 1.951e-06, eta: 2:15:29, time: 0.846, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1618, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3791, debug_std_frame_5: 0.4376, loss_rl: -0.2919, loss_critic: 1.3531, loss_rl_bc: 0.0066, il_score: 0.6520, rl_score: 0.6871, prev_frame_loss_waypoint_0: 0.1807, prev_frame_loss_rl_bc_0: 0.0103, loss: 1.4466, grad_norm: 35.3920, il_score_sum: 66.2999, rl_score_sum: 68.4597, score_diff: -2.1598, il_win: 76.0000, rl_win: 472.5000
2025-09-24 17:57:56,669 - mmdet - INFO - Epoch [22][460/3517]	lr: 1.951e-06, eta: 2:15:13, time: 0.825, data_time: 0.015, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1655, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3295, debug_std_frame_4: 0.3827, debug_std_frame_5: 0.4401, loss_rl: -0.2834, loss_critic: 1.4706, loss_rl_bc: 0.0032, il_score: 0.6765, rl_score: 0.6843, prev_frame_loss_waypoint_0: 0.1592, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.5435, grad_norm: 36.9624, il_score_sum: 66.1705, rl_score_sum: 68.3280, score_diff: -2.1575, il_win: 76.0000, rl_win: 473.0000
2025-09-24 17:58:12,912 - mmdet - INFO - Epoch [22][480/3517]	lr: 1.951e-06, eta: 2:14:57, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1750, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2279, debug_std_frame_2: 0.2799, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3831, debug_std_frame_5: 0.4409, loss_rl: -0.2611, loss_critic: 1.2894, loss_rl_bc: 0.0058, il_score: 0.6657, rl_score: 0.6789, prev_frame_loss_waypoint_0: 0.1920, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.4350, grad_norm: 46.1328, il_score_sum: 66.1705, rl_score_sum: 68.3280, score_diff: -2.1575, il_win: 76.0000, rl_win: 473.0000
2025-09-24 17:58:29,245 - mmdet - INFO - Epoch [22][500/3517]	lr: 1.951e-06, eta: 2:14:40, time: 0.817, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1498, debug_std_frame_0: 0.2043, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3188, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4233, loss_rl: -0.3139, loss_critic: 1.5216, loss_rl_bc: 0.0011, il_score: 0.7067, rl_score: 0.6923, prev_frame_loss_waypoint_0: 0.1535, prev_frame_loss_rl_bc_0: 0.0007, loss: 1.5389, grad_norm: 34.5264, il_score_sum: 66.1705, rl_score_sum: 68.3280, score_diff: -2.1575, il_win: 76.0000, rl_win: 473.0000
2025-09-24 17:58:45,499 - mmdet - INFO - Epoch [22][520/3517]	lr: 1.951e-06, eta: 2:14:24, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1688, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3210, debug_std_frame_4: 0.3714, debug_std_frame_5: 0.4236, loss_rl: -0.2872, loss_critic: 1.0817, loss_rl_bc: 0.0034, il_score: 0.6669, rl_score: 0.6880, prev_frame_loss_waypoint_0: 0.1768, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.1721, grad_norm: 45.2510, il_score_sum: 66.1705, rl_score_sum: 68.3280, score_diff: -2.1575, il_win: 76.0000, rl_win: 473.0000
2025-09-24 17:59:01,751 - mmdet - INFO - Epoch [22][540/3517]	lr: 1.951e-06, eta: 2:14:08, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1669, debug_std_frame_0: 0.2108, debug_std_frame_1: 0.2276, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3264, debug_std_frame_4: 0.3765, debug_std_frame_5: 0.4311, loss_rl: -0.2434, loss_critic: 1.4979, loss_rl_bc: 0.0067, il_score: 0.6462, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.6328, grad_norm: 41.4855, il_score_sum: 66.1705, rl_score_sum: 68.3280, score_diff: -2.1575, il_win: 76.0000, rl_win: 473.0000
2025-09-24 17:59:17,944 - mmdet - INFO - Epoch [22][560/3517]	lr: 1.951e-06, eta: 2:13:52, time: 0.810, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1579, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3170, debug_std_frame_4: 0.3635, debug_std_frame_5: 0.4185, loss_rl: -0.2672, loss_critic: 1.3253, loss_rl_bc: 0.0028, il_score: 0.6763, rl_score: 0.7082, prev_frame_loss_waypoint_0: 0.1536, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.3998, grad_norm: 33.5979, il_score_sum: 66.3714, rl_score_sum: 68.3477, score_diff: -1.9762, il_win: 76.0000, rl_win: 473.5000
2025-09-24 17:59:33,770 - mmdet - INFO - Epoch [22][580/3517]	lr: 1.951e-06, eta: 2:13:36, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1820, debug_std_frame_0: 0.2100, debug_std_frame_1: 0.2317, debug_std_frame_2: 0.2825, debug_std_frame_3: 0.3351, debug_std_frame_4: 0.3874, debug_std_frame_5: 0.4452, loss_rl: -0.2545, loss_critic: 1.2902, loss_rl_bc: 0.0087, il_score: 0.6589, rl_score: 0.6869, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0104, loss: 1.4488, grad_norm: 42.8017, il_score_sum: 66.3714, rl_score_sum: 68.3477, score_diff: -1.9762, il_win: 76.0000, rl_win: 473.5000
2025-09-24 17:59:50,068 - mmdet - INFO - Epoch [22][600/3517]	lr: 1.951e-06, eta: 2:13:20, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1697, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2767, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3782, debug_std_frame_5: 0.4353, loss_rl: -0.2723, loss_critic: 1.2070, loss_rl_bc: 0.0059, il_score: 0.6793, rl_score: 0.6911, prev_frame_loss_waypoint_0: 0.1732, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.3128, grad_norm: 34.6353, il_score_sum: 66.3714, rl_score_sum: 68.3477, score_diff: -1.9762, il_win: 76.0000, rl_win: 473.5000
2025-09-24 18:00:06,134 - mmdet - INFO - Epoch [22][620/3517]	lr: 1.951e-06, eta: 2:13:04, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1397, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2717, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3788, debug_std_frame_5: 0.4363, loss_rl: -0.2823, loss_critic: 1.3529, loss_rl_bc: -0.0007, il_score: 0.6874, rl_score: 0.6905, prev_frame_loss_waypoint_0: 0.1626, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.4007, grad_norm: 36.4181, il_score_sum: 66.3714, rl_score_sum: 68.3477, score_diff: -1.9762, il_win: 76.0000, rl_win: 473.5000
2025-09-24 18:00:22,234 - mmdet - INFO - Epoch [22][640/3517]	lr: 1.951e-06, eta: 2:12:48, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1698, debug_std_frame_0: 0.2107, debug_std_frame_1: 0.2293, debug_std_frame_2: 0.2786, debug_std_frame_3: 0.3288, debug_std_frame_4: 0.3825, debug_std_frame_5: 0.4377, loss_rl: -0.2688, loss_critic: 0.9263, loss_rl_bc: 0.0054, il_score: 0.6708, rl_score: 0.7164, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.0290, grad_norm: 36.0586, il_score_sum: 66.3714, rl_score_sum: 68.3477, score_diff: -1.9762, il_win: 76.0000, rl_win: 473.5000
2025-09-24 18:00:38,336 - mmdet - INFO - Epoch [22][660/3517]	lr: 1.951e-06, eta: 2:12:32, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1654, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3777, debug_std_frame_5: 0.4336, loss_rl: -0.2771, loss_critic: 1.4408, loss_rl_bc: 0.0033, il_score: 0.6975, rl_score: 0.6913, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5329, grad_norm: 38.6897, il_score_sum: 66.5362, rl_score_sum: 68.5668, score_diff: -2.0306, il_win: 76.0000, rl_win: 474.0000
2025-09-24 18:00:54,735 - mmdet - INFO - Epoch [22][680/3517]	lr: 1.951e-06, eta: 2:12:16, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1427, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2665, debug_std_frame_3: 0.3124, debug_std_frame_4: 0.3598, debug_std_frame_5: 0.4128, loss_rl: -0.3238, loss_critic: 1.4245, loss_rl_bc: 0.0009, il_score: 0.6683, rl_score: 0.7060, prev_frame_loss_waypoint_0: 0.1619, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.4354, grad_norm: 38.0313, il_score_sum: 66.5362, rl_score_sum: 68.5668, score_diff: -2.0306, il_win: 76.0000, rl_win: 474.0000
2025-09-24 18:01:11,026 - mmdet - INFO - Epoch [22][700/3517]	lr: 1.951e-06, eta: 2:12:00, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1593, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3746, debug_std_frame_5: 0.4314, loss_rl: -0.2906, loss_critic: 1.2099, loss_rl_bc: 0.0044, il_score: 0.6807, rl_score: 0.6912, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.3007, grad_norm: 37.9611, il_score_sum: 66.5362, rl_score_sum: 68.5668, score_diff: -2.0306, il_win: 76.0000, rl_win: 474.0000
2025-09-24 18:01:26,911 - mmdet - INFO - Epoch [22][720/3517]	lr: 1.951e-06, eta: 2:11:44, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1565, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3252, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4324, loss_rl: -0.2433, loss_critic: 1.4186, loss_rl_bc: 0.0053, il_score: 0.6469, rl_score: 0.6698, prev_frame_loss_waypoint_0: 0.1838, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.5511, grad_norm: 39.6727, il_score_sum: 66.5362, rl_score_sum: 68.5668, score_diff: -2.0306, il_win: 76.0000, rl_win: 474.0000
2025-09-24 18:01:43,003 - mmdet - INFO - Epoch [22][740/3517]	lr: 1.951e-06, eta: 2:11:28, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1706, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2251, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3700, debug_std_frame_5: 0.4245, loss_rl: -0.2358, loss_critic: 1.2624, loss_rl_bc: 0.0054, il_score: 0.6468, rl_score: 0.6968, prev_frame_loss_waypoint_0: 0.1860, prev_frame_loss_rl_bc_0: 0.0127, loss: 1.4264, grad_norm: 45.7119, il_score_sum: 66.5362, rl_score_sum: 68.5668, score_diff: -2.0306, il_win: 76.0000, rl_win: 474.0000
2025-09-24 18:01:59,182 - mmdet - INFO - Epoch [22][760/3517]	lr: 1.951e-06, eta: 2:11:12, time: 0.809, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1547, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3199, debug_std_frame_4: 0.3694, debug_std_frame_5: 0.4241, loss_rl: -0.2872, loss_critic: 1.4211, loss_rl_bc: 0.0035, il_score: 0.7035, rl_score: 0.7072, prev_frame_loss_waypoint_0: 0.1657, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.4860, grad_norm: 39.8127, il_score_sum: 66.5436, rl_score_sum: 68.6214, score_diff: -2.0778, il_win: 76.0000, rl_win: 474.5000
2025-09-24 18:02:14,974 - mmdet - INFO - Epoch [22][780/3517]	lr: 1.951e-06, eta: 2:10:55, time: 0.789, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1775, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3794, debug_std_frame_5: 0.4350, loss_rl: -0.2636, loss_critic: 1.3316, loss_rl_bc: 0.0079, il_score: 0.6789, rl_score: 0.6789, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.4681, grad_norm: 32.2373, il_score_sum: 66.5436, rl_score_sum: 68.6214, score_diff: -2.0778, il_win: 76.0000, rl_win: 474.5000
2025-09-24 18:02:30,985 - mmdet - INFO - Epoch [22][800/3517]	lr: 1.951e-06, eta: 2:10:39, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1495, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2264, debug_std_frame_2: 0.2779, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3803, debug_std_frame_5: 0.4368, loss_rl: -0.2826, loss_critic: 1.2043, loss_rl_bc: 0.0000, il_score: 0.6756, rl_score: 0.6898, prev_frame_loss_waypoint_0: 0.1613, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.2585, grad_norm: 36.8915, il_score_sum: 66.5436, rl_score_sum: 68.6214, score_diff: -2.0778, il_win: 76.0000, rl_win: 474.5000
2025-09-24 18:02:47,015 - mmdet - INFO - Epoch [22][820/3517]	lr: 1.951e-06, eta: 2:10:23, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1553, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3273, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4397, loss_rl: -0.3286, loss_critic: 1.2160, loss_rl_bc: 0.0031, il_score: 0.6438, rl_score: 0.6854, prev_frame_loss_waypoint_0: 0.1657, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.2388, grad_norm: 44.5532, il_score_sum: 66.5436, rl_score_sum: 68.6214, score_diff: -2.0778, il_win: 76.0000, rl_win: 474.5000
2025-09-24 18:03:02,925 - mmdet - INFO - Epoch [22][840/3517]	lr: 1.951e-06, eta: 2:10:07, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1686, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3185, debug_std_frame_4: 0.3711, debug_std_frame_5: 0.4256, loss_rl: -0.2306, loss_critic: 1.5284, loss_rl_bc: 0.0064, il_score: 0.6247, rl_score: 0.6517, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.6786, grad_norm: 50.5556, il_score_sum: 66.5436, rl_score_sum: 68.6214, score_diff: -2.0778, il_win: 76.0000, rl_win: 474.5000
2025-09-24 18:03:19,084 - mmdet - INFO - Epoch [22][860/3517]	lr: 1.951e-06, eta: 2:09:51, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1553, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2679, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4284, loss_rl: -0.2716, loss_critic: 1.1139, loss_rl_bc: 0.0027, il_score: 0.6955, rl_score: 0.7051, prev_frame_loss_waypoint_0: 0.1598, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.1885, grad_norm: 32.5593, il_score_sum: 66.5581, rl_score_sum: 68.5944, score_diff: -2.0363, il_win: 76.0000, rl_win: 475.0000
2025-09-24 18:03:35,144 - mmdet - INFO - Epoch [22][880/3517]	lr: 1.951e-06, eta: 2:09:35, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1743, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2730, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4350, loss_rl: -0.2499, loss_critic: 1.0940, loss_rl_bc: 0.0082, il_score: 0.6666, rl_score: 0.6832, prev_frame_loss_waypoint_0: 0.2001, prev_frame_loss_rl_bc_0: 0.0128, loss: 1.2650, grad_norm: 45.1372, il_score_sum: 66.5581, rl_score_sum: 68.5944, score_diff: -2.0363, il_win: 76.0000, rl_win: 475.0000
2025-09-24 18:03:51,198 - mmdet - INFO - Epoch [22][900/3517]	lr: 1.951e-06, eta: 2:09:19, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1745, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2772, debug_std_frame_3: 0.3285, debug_std_frame_4: 0.3794, debug_std_frame_5: 0.4347, loss_rl: -0.2392, loss_critic: 1.0095, loss_rl_bc: 0.0072, il_score: 0.6606, rl_score: 0.6791, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.1687, grad_norm: 36.0170, il_score_sum: 66.5581, rl_score_sum: 68.5944, score_diff: -2.0363, il_win: 76.0000, rl_win: 475.0000
2025-09-24 18:04:07,237 - mmdet - INFO - Epoch [22][920/3517]	lr: 1.951e-06, eta: 2:09:03, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1781, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2260, debug_std_frame_2: 0.2722, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3732, debug_std_frame_5: 0.4291, loss_rl: -0.2580, loss_critic: 1.1833, loss_rl_bc: 0.0089, il_score: 0.6664, rl_score: 0.6928, prev_frame_loss_waypoint_0: 0.1762, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.3222, grad_norm: 39.1344, il_score_sum: 66.5581, rl_score_sum: 68.5944, score_diff: -2.0363, il_win: 76.0000, rl_win: 475.0000
2025-09-24 18:04:23,519 - mmdet - INFO - Epoch [22][940/3517]	lr: 1.951e-06, eta: 2:08:47, time: 0.814, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1704, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2730, debug_std_frame_3: 0.3236, debug_std_frame_4: 0.3760, debug_std_frame_5: 0.4349, loss_rl: -0.2708, loss_critic: 1.2418, loss_rl_bc: 0.0059, il_score: 0.6697, rl_score: 0.6931, prev_frame_loss_waypoint_0: 0.1672, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.3429, grad_norm: 39.4997, il_score_sum: 66.5581, rl_score_sum: 68.5944, score_diff: -2.0363, il_win: 76.0000, rl_win: 475.0000
2025-09-24 18:04:39,780 - mmdet - INFO - Epoch [22][960/3517]	lr: 1.951e-06, eta: 2:08:31, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1608, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3289, debug_std_frame_4: 0.3831, debug_std_frame_5: 0.4371, loss_rl: -0.2577, loss_critic: 1.2866, loss_rl_bc: 0.0042, il_score: 0.6644, rl_score: 0.6718, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.4094, grad_norm: 34.8859, il_score_sum: 66.6018, rl_score_sum: 68.6181, score_diff: -2.0163, il_win: 76.0000, rl_win: 475.5000
2025-09-24 18:04:55,926 - mmdet - INFO - Epoch [22][980/3517]	lr: 1.951e-06, eta: 2:08:15, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1695, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4373, loss_rl: -0.2307, loss_critic: 1.6160, loss_rl_bc: 0.0095, il_score: 0.6407, rl_score: 0.6524, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.7690, grad_norm: 53.6335, il_score_sum: 66.6018, rl_score_sum: 68.6181, score_diff: -2.0163, il_win: 76.0000, rl_win: 475.5000
2025-09-24 18:05:11,851 - mmdet - INFO - Epoch [22][1000/3517]	lr: 1.951e-06, eta: 2:07:59, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1595, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3701, debug_std_frame_5: 0.4254, loss_rl: -0.2787, loss_critic: 1.3934, loss_rl_bc: 0.0059, il_score: 0.6615, rl_score: 0.6748, prev_frame_loss_waypoint_0: 0.1673, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.4776, grad_norm: 39.1984, il_score_sum: 66.6018, rl_score_sum: 68.6181, score_diff: -2.0163, il_win: 76.0000, rl_win: 475.5000
2025-09-24 18:05:27,802 - mmdet - INFO - Epoch [22][1020/3517]	lr: 1.951e-06, eta: 2:07:42, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1497, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3168, debug_std_frame_4: 0.3675, debug_std_frame_5: 0.4187, loss_rl: -0.2915, loss_critic: 1.3613, loss_rl_bc: 0.0028, il_score: 0.6652, rl_score: 0.6752, prev_frame_loss_waypoint_0: 0.1591, prev_frame_loss_rl_bc_0: 0.0005, loss: 1.4087, grad_norm: 40.3777, il_score_sum: 66.6018, rl_score_sum: 68.6181, score_diff: -2.0163, il_win: 76.0000, rl_win: 475.5000
2025-09-24 18:05:43,671 - mmdet - INFO - Epoch [22][1040/3517]	lr: 1.951e-06, eta: 2:07:26, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1566, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3220, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4324, loss_rl: -0.2536, loss_critic: 1.2408, loss_rl_bc: 0.0025, il_score: 0.7049, rl_score: 0.7141, prev_frame_loss_waypoint_0: 0.1726, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.3496, grad_norm: 41.5734, il_score_sum: 66.6018, rl_score_sum: 68.6181, score_diff: -2.0163, il_win: 76.0000, rl_win: 475.5000
2025-09-24 18:05:59,740 - mmdet - INFO - Epoch [22][1060/3517]	lr: 1.951e-06, eta: 2:07:10, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1473, debug_std_frame_0: 0.2102, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2650, debug_std_frame_3: 0.3108, debug_std_frame_4: 0.3556, debug_std_frame_5: 0.4071, loss_rl: -0.2486, loss_critic: 1.4779, loss_rl_bc: 0.0018, il_score: 0.6446, rl_score: 0.6848, prev_frame_loss_waypoint_0: 0.1612, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.5679, grad_norm: 39.6275, il_score_sum: 66.6247, rl_score_sum: 68.5448, score_diff: -1.9202, il_win: 76.0000, rl_win: 475.9091
2025-09-24 18:06:15,608 - mmdet - INFO - Epoch [22][1080/3517]	lr: 1.951e-06, eta: 2:06:54, time: 0.793, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1629, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2737, debug_std_frame_3: 0.3262, debug_std_frame_4: 0.3802, debug_std_frame_5: 0.4371, loss_rl: -0.2535, loss_critic: 1.5817, loss_rl_bc: 0.0062, il_score: 0.6125, rl_score: 0.6723, prev_frame_loss_waypoint_0: 0.1726, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.6973, grad_norm: 40.8212, il_score_sum: 66.6247, rl_score_sum: 68.5448, score_diff: -1.9202, il_win: 76.0000, rl_win: 475.9091
2025-09-24 18:06:31,723 - mmdet - INFO - Epoch [22][1100/3517]	lr: 1.951e-06, eta: 2:06:38, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1711, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2683, debug_std_frame_3: 0.3197, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4278, loss_rl: -0.2667, loss_critic: 1.2161, loss_rl_bc: 0.0046, il_score: 0.6848, rl_score: 0.7014, prev_frame_loss_waypoint_0: 0.1892, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.3476, grad_norm: 42.9512, il_score_sum: 66.6247, rl_score_sum: 68.5448, score_diff: -1.9202, il_win: 76.0000, rl_win: 475.9091
2025-09-24 18:06:47,632 - mmdet - INFO - Epoch [22][1120/3517]	lr: 1.951e-06, eta: 2:06:22, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1528, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3634, debug_std_frame_5: 0.4182, loss_rl: -0.2946, loss_critic: 1.5329, loss_rl_bc: 0.0041, il_score: 0.6672, rl_score: 0.6962, prev_frame_loss_waypoint_0: 0.1630, prev_frame_loss_rl_bc_0: 0.0030, loss: 1.5864, grad_norm: 43.7565, il_score_sum: 66.6247, rl_score_sum: 68.5448, score_diff: -1.9202, il_win: 76.0000, rl_win: 475.9091
2025-09-24 18:07:03,540 - mmdet - INFO - Epoch [22][1140/3517]	lr: 1.951e-06, eta: 2:06:06, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1494, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2196, debug_std_frame_2: 0.2614, debug_std_frame_3: 0.3087, debug_std_frame_4: 0.3559, debug_std_frame_5: 0.4099, loss_rl: -0.2740, loss_critic: 1.3536, loss_rl_bc: 0.0021, il_score: 0.7021, rl_score: 0.6993, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.4289, grad_norm: 34.1616, il_score_sum: 66.6247, rl_score_sum: 68.5448, score_diff: -1.9202, il_win: 76.0000, rl_win: 475.9091
2025-09-24 18:07:19,513 - mmdet - INFO - Epoch [22][1160/3517]	lr: 1.951e-06, eta: 2:05:50, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1589, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3166, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4192, loss_rl: -0.2878, loss_critic: 1.2887, loss_rl_bc: 0.0014, il_score: 0.6855, rl_score: 0.7092, prev_frame_loss_waypoint_0: 0.1719, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.3652, grad_norm: 39.4922, il_score_sum: 66.5774, rl_score_sum: 68.5958, score_diff: -2.0184, il_win: 76.0000, rl_win: 476.3333
2025-09-24 18:07:35,539 - mmdet - INFO - Epoch [22][1180/3517]	lr: 1.951e-06, eta: 2:05:34, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1771, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3230, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4299, loss_rl: -0.2419, loss_critic: 1.2469, loss_rl_bc: 0.0087, il_score: 0.6814, rl_score: 0.6853, prev_frame_loss_waypoint_0: 0.1976, prev_frame_loss_rl_bc_0: 0.0248, loss: 1.4397, grad_norm: 31.4969, il_score_sum: 66.5774, rl_score_sum: 68.5958, score_diff: -2.0184, il_win: 76.0000, rl_win: 476.3333
2025-09-24 18:07:52,096 - mmdet - INFO - Epoch [22][1200/3517]	lr: 1.951e-06, eta: 2:05:18, time: 0.828, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1580, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2776, debug_std_frame_3: 0.3306, debug_std_frame_4: 0.3849, debug_std_frame_5: 0.4416, loss_rl: -0.2638, loss_critic: 1.3108, loss_rl_bc: 0.0031, il_score: 0.6860, rl_score: 0.6788, prev_frame_loss_waypoint_0: 0.1824, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.4230, grad_norm: 36.0048, il_score_sum: 66.5774, rl_score_sum: 68.5958, score_diff: -2.0184, il_win: 76.0000, rl_win: 476.3333
2025-09-24 18:08:08,097 - mmdet - INFO - Epoch [22][1220/3517]	lr: 1.951e-06, eta: 2:05:02, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0276, loss_waypoint: 0.1796, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2771, debug_std_frame_3: 0.3306, debug_std_frame_4: 0.3851, debug_std_frame_5: 0.4416, loss_rl: -0.2648, loss_critic: 1.3373, loss_rl_bc: 0.0090, il_score: 0.6421, rl_score: 0.6687, prev_frame_loss_waypoint_0: 0.1891, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.4866, grad_norm: 32.4188, il_score_sum: 66.5774, rl_score_sum: 68.5958, score_diff: -2.0184, il_win: 76.0000, rl_win: 476.3333
2025-09-24 18:08:24,116 - mmdet - INFO - Epoch [22][1240/3517]	lr: 1.951e-06, eta: 2:04:45, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1777, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2271, debug_std_frame_2: 0.2788, debug_std_frame_3: 0.3313, debug_std_frame_4: 0.3844, debug_std_frame_5: 0.4390, loss_rl: -0.2296, loss_critic: 1.5322, loss_rl_bc: 0.0062, il_score: 0.6464, rl_score: 0.6817, prev_frame_loss_waypoint_0: 0.2040, prev_frame_loss_rl_bc_0: 0.0167, loss: 1.7328, grad_norm: 43.1665, il_score_sum: 66.5774, rl_score_sum: 68.5958, score_diff: -2.0184, il_win: 76.0000, rl_win: 476.3333
2025-09-24 18:08:40,197 - mmdet - INFO - Epoch [22][1260/3517]	lr: 1.951e-06, eta: 2:04:29, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1475, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3317, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4396, loss_rl: -0.2582, loss_critic: 1.1916, loss_rl_bc: 0.0001, il_score: 0.6675, rl_score: 0.6973, prev_frame_loss_waypoint_0: 0.1664, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.2783, grad_norm: 45.4679, il_score_sum: 66.5952, rl_score_sum: 68.5809, score_diff: -1.9857, il_win: 76.0000, rl_win: 476.7692
2025-09-24 18:08:56,222 - mmdet - INFO - Epoch [22][1280/3517]	lr: 1.951e-06, eta: 2:04:13, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1411, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2676, debug_std_frame_3: 0.3158, debug_std_frame_4: 0.3671, debug_std_frame_5: 0.4163, loss_rl: -0.3032, loss_critic: 1.5409, loss_rl_bc: -0.0011, il_score: 0.6869, rl_score: 0.6880, prev_frame_loss_waypoint_0: 0.1540, prev_frame_loss_rl_bc_0: 0.0003, loss: 1.5577, grad_norm: 39.9504, il_score_sum: 66.5952, rl_score_sum: 68.5809, score_diff: -1.9857, il_win: 76.0000, rl_win: 476.7692
2025-09-24 18:09:12,077 - mmdet - INFO - Epoch [22][1300/3517]	lr: 1.951e-06, eta: 2:03:57, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1595, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3681, debug_std_frame_5: 0.4211, loss_rl: -0.2724, loss_critic: 1.1621, loss_rl_bc: 0.0026, il_score: 0.6918, rl_score: 0.7082, prev_frame_loss_waypoint_0: 0.1841, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.2703, grad_norm: 42.2808, il_score_sum: 66.5952, rl_score_sum: 68.5809, score_diff: -1.9857, il_win: 76.0000, rl_win: 476.7692
2025-09-24 18:09:27,901 - mmdet - INFO - Epoch [22][1320/3517]	lr: 1.951e-06, eta: 2:03:41, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1586, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2750, debug_std_frame_3: 0.3268, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4295, loss_rl: -0.2804, loss_critic: 1.1173, loss_rl_bc: 0.0019, il_score: 0.6844, rl_score: 0.6927, prev_frame_loss_waypoint_0: 0.1648, prev_frame_loss_rl_bc_0: 0.0011, loss: 1.1885, grad_norm: 29.7310, il_score_sum: 66.5952, rl_score_sum: 68.5809, score_diff: -1.9857, il_win: 76.0000, rl_win: 476.7692
2025-09-24 18:09:44,034 - mmdet - INFO - Epoch [22][1340/3517]	lr: 1.951e-06, eta: 2:03:25, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1592, debug_std_frame_0: 0.2089, debug_std_frame_1: 0.2252, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3667, debug_std_frame_5: 0.4204, loss_rl: -0.3165, loss_critic: 1.0494, loss_rl_bc: 0.0022, il_score: 0.7166, rl_score: 0.7278, prev_frame_loss_waypoint_0: 0.1701, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.0949, grad_norm: 34.5554, il_score_sum: 66.5952, rl_score_sum: 68.5809, score_diff: -1.9857, il_win: 76.0000, rl_win: 476.7692
2025-09-24 18:10:00,071 - mmdet - INFO - Epoch [22][1360/3517]	lr: 1.951e-06, eta: 2:03:09, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1628, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3746, debug_std_frame_5: 0.4272, loss_rl: -0.2653, loss_critic: 1.7313, loss_rl_bc: 0.0101, il_score: 0.6614, rl_score: 0.6730, prev_frame_loss_waypoint_0: 0.1667, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.8363, grad_norm: 44.3167, il_score_sum: 66.7923, rl_score_sum: 68.7235, score_diff: -1.9312, il_win: 76.0000, rl_win: 477.2143
2025-09-24 18:10:15,951 - mmdet - INFO - Epoch [22][1380/3517]	lr: 1.951e-06, eta: 2:02:53, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1703, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3262, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4312, loss_rl: -0.2596, loss_critic: 1.7090, loss_rl_bc: 0.0077, il_score: 0.6089, rl_score: 0.6425, prev_frame_loss_waypoint_0: 0.1885, prev_frame_loss_rl_bc_0: 0.0105, loss: 1.8524, grad_norm: 36.3445, il_score_sum: 66.7923, rl_score_sum: 68.7235, score_diff: -1.9312, il_win: 76.0000, rl_win: 477.2143
2025-09-24 18:10:32,056 - mmdet - INFO - Epoch [22][1400/3517]	lr: 1.951e-06, eta: 2:02:37, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1551, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2253, debug_std_frame_2: 0.2720, debug_std_frame_3: 0.3199, debug_std_frame_4: 0.3691, debug_std_frame_5: 0.4196, loss_rl: -0.2682, loss_critic: 1.3011, loss_rl_bc: 0.0035, il_score: 0.6521, rl_score: 0.6857, prev_frame_loss_waypoint_0: 0.1650, prev_frame_loss_rl_bc_0: 0.0030, loss: 1.3848, grad_norm: 33.3259, il_score_sum: 66.7923, rl_score_sum: 68.7235, score_diff: -1.9312, il_win: 76.0000, rl_win: 477.2143
2025-09-24 18:10:48,137 - mmdet - INFO - Epoch [22][1420/3517]	lr: 1.951e-06, eta: 2:02:21, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1653, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2765, debug_std_frame_3: 0.3306, debug_std_frame_4: 0.3855, debug_std_frame_5: 0.4432, loss_rl: -0.2745, loss_critic: 1.2648, loss_rl_bc: 0.0060, il_score: 0.6799, rl_score: 0.7062, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.3810, grad_norm: 38.1715, il_score_sum: 66.7923, rl_score_sum: 68.7235, score_diff: -1.9312, il_win: 76.0000, rl_win: 477.2143
2025-09-24 18:11:04,150 - mmdet - INFO - Epoch [22][1440/3517]	lr: 1.951e-06, eta: 2:02:05, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1682, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2739, debug_std_frame_3: 0.3218, debug_std_frame_4: 0.3716, debug_std_frame_5: 0.4264, loss_rl: -0.2631, loss_critic: 1.3643, loss_rl_bc: 0.0038, il_score: 0.7038, rl_score: 0.7020, prev_frame_loss_waypoint_0: 0.1636, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.4673, grad_norm: 31.4187, il_score_sum: 66.7923, rl_score_sum: 68.7235, score_diff: -1.9312, il_win: 76.0000, rl_win: 477.2143
2025-09-24 18:11:20,333 - mmdet - INFO - Epoch [22][1460/3517]	lr: 1.951e-06, eta: 2:01:49, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1590, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3759, debug_std_frame_5: 0.4304, loss_rl: -0.2637, loss_critic: 1.2814, loss_rl_bc: 0.0030, il_score: 0.6692, rl_score: 0.6927, prev_frame_loss_waypoint_0: 0.1533, prev_frame_loss_rl_bc_0: 0.0003, loss: 1.3592, grad_norm: 43.3966, il_score_sum: 66.7383, rl_score_sum: 68.6825, score_diff: -1.9442, il_win: 76.0000, rl_win: 477.6667
2025-09-24 18:11:36,155 - mmdet - INFO - Epoch [22][1480/3517]	lr: 1.951e-06, eta: 2:01:32, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1599, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2701, debug_std_frame_3: 0.3200, debug_std_frame_4: 0.3677, debug_std_frame_5: 0.4243, loss_rl: -0.2763, loss_critic: 1.4142, loss_rl_bc: 0.0055, il_score: 0.6742, rl_score: 0.6851, prev_frame_loss_waypoint_0: 0.1712, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.5053, grad_norm: 41.8396, il_score_sum: 66.7383, rl_score_sum: 68.6825, score_diff: -1.9442, il_win: 76.0000, rl_win: 477.6667
2025-09-24 18:11:52,357 - mmdet - INFO - Epoch [22][1500/3517]	lr: 1.951e-06, eta: 2:01:16, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1645, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3210, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4237, loss_rl: -0.2909, loss_critic: 1.3219, loss_rl_bc: 0.0050, il_score: 0.6738, rl_score: 0.6918, prev_frame_loss_waypoint_0: 0.1703, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.4026, grad_norm: 39.2704, il_score_sum: 66.7383, rl_score_sum: 68.6825, score_diff: -1.9442, il_win: 76.0000, rl_win: 477.6667
2025-09-24 18:12:08,112 - mmdet - INFO - Epoch [22][1520/3517]	lr: 1.951e-06, eta: 2:01:00, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1628, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4288, loss_rl: -0.2360, loss_critic: 1.3716, loss_rl_bc: 0.0055, il_score: 0.6514, rl_score: 0.6491, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.5117, grad_norm: 38.2827, il_score_sum: 66.7383, rl_score_sum: 68.6825, score_diff: -1.9442, il_win: 76.0000, rl_win: 477.6667
2025-09-24 18:12:23,944 - mmdet - INFO - Epoch [22][1540/3517]	lr: 1.951e-06, eta: 2:00:44, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1702, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3780, debug_std_frame_5: 0.4351, loss_rl: -0.2436, loss_critic: 1.4242, loss_rl_bc: 0.0052, il_score: 0.6443, rl_score: 0.6643, prev_frame_loss_waypoint_0: 0.1770, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.5663, grad_norm: 38.5616, il_score_sum: 66.7383, rl_score_sum: 68.6825, score_diff: -1.9442, il_win: 76.0000, rl_win: 477.6667
2025-09-24 18:12:39,826 - mmdet - INFO - Epoch [22][1560/3517]	lr: 1.951e-06, eta: 2:00:28, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1597, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3251, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4325, loss_rl: -0.2779, loss_critic: 1.1079, loss_rl_bc: 0.0021, il_score: 0.6803, rl_score: 0.7069, prev_frame_loss_waypoint_0: 0.1779, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.2011, grad_norm: 47.5446, il_score_sum: 66.6899, rl_score_sum: 68.6070, score_diff: -1.9171, il_win: 76.0000, rl_win: 478.1250
2025-09-24 18:12:55,773 - mmdet - INFO - Epoch [22][1580/3517]	lr: 1.951e-06, eta: 2:00:12, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1565, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4209, loss_rl: -0.2783, loss_critic: 1.3055, loss_rl_bc: 0.0016, il_score: 0.6907, rl_score: 0.7090, prev_frame_loss_waypoint_0: 0.1607, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.3745, grad_norm: 32.4552, il_score_sum: 66.6899, rl_score_sum: 68.6070, score_diff: -1.9171, il_win: 76.0000, rl_win: 478.1250
2025-09-24 18:13:11,593 - mmdet - INFO - Epoch [22][1600/3517]	lr: 1.951e-06, eta: 1:59:56, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1474, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4272, loss_rl: -0.2847, loss_critic: 1.2623, loss_rl_bc: 0.0027, il_score: 0.6722, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1604, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.3155, grad_norm: 33.8799, il_score_sum: 66.6899, rl_score_sum: 68.6070, score_diff: -1.9171, il_win: 76.0000, rl_win: 478.1250
2025-09-24 18:13:27,509 - mmdet - INFO - Epoch [22][1620/3517]	lr: 1.951e-06, eta: 1:59:40, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1715, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3265, debug_std_frame_4: 0.3802, debug_std_frame_5: 0.4344, loss_rl: -0.2717, loss_critic: 1.2574, loss_rl_bc: 0.0081, il_score: 0.6902, rl_score: 0.6968, prev_frame_loss_waypoint_0: 0.1716, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.3681, grad_norm: 34.6958, il_score_sum: 66.6899, rl_score_sum: 68.6070, score_diff: -1.9171, il_win: 76.0000, rl_win: 478.1250
2025-09-24 18:13:43,335 - mmdet - INFO - Epoch [22][1640/3517]	lr: 1.951e-06, eta: 1:59:24, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1415, debug_std_frame_0: 0.2095, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2695, debug_std_frame_3: 0.3194, debug_std_frame_4: 0.3680, debug_std_frame_5: 0.4237, loss_rl: -0.2551, loss_critic: 1.7573, loss_rl_bc: 0.0015, il_score: 0.6343, rl_score: 0.6632, prev_frame_loss_waypoint_0: 0.1636, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.8372, grad_norm: 34.8535, il_score_sum: 66.6899, rl_score_sum: 68.6070, score_diff: -1.9171, il_win: 76.0000, rl_win: 478.1250
2025-09-24 18:13:59,426 - mmdet - INFO - Epoch [22][1660/3517]	lr: 1.951e-06, eta: 1:59:08, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1645, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3672, debug_std_frame_5: 0.4191, loss_rl: -0.2755, loss_critic: 1.6388, loss_rl_bc: 0.0093, il_score: 0.6724, rl_score: 0.6655, prev_frame_loss_waypoint_0: 0.1696, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.7370, grad_norm: 41.4236, il_score_sum: 66.7326, rl_score_sum: 68.6331, score_diff: -1.9005, il_win: 76.0000, rl_win: 478.5882
2025-09-24 18:14:15,310 - mmdet - INFO - Epoch [22][1680/3517]	lr: 1.951e-06, eta: 1:58:51, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1580, debug_std_frame_0: 0.2035, debug_std_frame_1: 0.2185, debug_std_frame_2: 0.2694, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4341, loss_rl: -0.2823, loss_critic: 1.2407, loss_rl_bc: 0.0054, il_score: 0.6866, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1765, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.3312, grad_norm: 32.1005, il_score_sum: 66.7326, rl_score_sum: 68.6331, score_diff: -1.9005, il_win: 76.0000, rl_win: 478.5882
2025-09-24 18:14:31,212 - mmdet - INFO - Epoch [22][1700/3517]	lr: 1.951e-06, eta: 1:58:35, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1697, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4338, loss_rl: -0.2529, loss_critic: 1.2489, loss_rl_bc: 0.0050, il_score: 0.6192, rl_score: 0.6827, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.3672, grad_norm: 42.9272, il_score_sum: 66.7326, rl_score_sum: 68.6331, score_diff: -1.9005, il_win: 76.0000, rl_win: 478.5882
2025-09-24 18:14:47,039 - mmdet - INFO - Epoch [22][1720/3517]	lr: 1.951e-06, eta: 1:58:19, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1533, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4270, loss_rl: -0.2860, loss_critic: 1.2874, loss_rl_bc: 0.0056, il_score: 0.6855, rl_score: 0.6875, prev_frame_loss_waypoint_0: 0.1628, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.3508, grad_norm: 37.8928, il_score_sum: 66.7326, rl_score_sum: 68.6331, score_diff: -1.9005, il_win: 76.0000, rl_win: 478.5882
2025-09-24 18:15:02,842 - mmdet - INFO - Epoch [22][1740/3517]	lr: 1.951e-06, eta: 1:58:03, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1517, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2270, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3191, debug_std_frame_4: 0.3712, debug_std_frame_5: 0.4298, loss_rl: -0.2390, loss_critic: 1.3515, loss_rl_bc: 0.0031, il_score: 0.6333, rl_score: 0.6662, prev_frame_loss_waypoint_0: 0.1650, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.4610, grad_norm: 43.5238, il_score_sum: 66.7326, rl_score_sum: 68.6331, score_diff: -1.9005, il_win: 76.0000, rl_win: 478.5882
2025-09-24 18:15:18,819 - mmdet - INFO - Epoch [22][1760/3517]	lr: 1.951e-06, eta: 1:57:47, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1461, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2698, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3707, debug_std_frame_5: 0.4237, loss_rl: -0.2772, loss_critic: 1.5166, loss_rl_bc: 0.0018, il_score: 0.6694, rl_score: 0.6726, prev_frame_loss_waypoint_0: 0.1644, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.5784, grad_norm: 36.5617, il_score_sum: 66.6935, rl_score_sum: 68.6075, score_diff: -1.9140, il_win: 76.0000, rl_win: 479.0556
2025-09-24 18:15:34,609 - mmdet - INFO - Epoch [22][1780/3517]	lr: 1.951e-06, eta: 1:57:31, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1560, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2252, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4310, loss_rl: -0.2859, loss_critic: 1.5876, loss_rl_bc: 0.0044, il_score: 0.6728, rl_score: 0.6893, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.6647, grad_norm: 38.1755, il_score_sum: 66.6935, rl_score_sum: 68.6075, score_diff: -1.9140, il_win: 76.0000, rl_win: 479.0556
2025-09-24 18:15:50,485 - mmdet - INFO - Epoch [22][1800/3517]	lr: 1.951e-06, eta: 1:57:15, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1367, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2201, debug_std_frame_2: 0.2668, debug_std_frame_3: 0.3147, debug_std_frame_4: 0.3645, debug_std_frame_5: 0.4168, loss_rl: -0.3021, loss_critic: 1.4219, loss_rl_bc: 0.0006, il_score: 0.6762, rl_score: 0.6826, prev_frame_loss_waypoint_0: 0.1444, prev_frame_loss_rl_bc_0: -0.0019, loss: 1.4249, grad_norm: 42.0990, il_score_sum: 66.6935, rl_score_sum: 68.6075, score_diff: -1.9140, il_win: 76.0000, rl_win: 479.0556
2025-09-24 18:16:06,512 - mmdet - INFO - Epoch [22][1820/3517]	lr: 1.951e-06, eta: 1:56:59, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1747, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3776, debug_std_frame_5: 0.4333, loss_rl: -0.2670, loss_critic: 1.2415, loss_rl_bc: 0.0075, il_score: 0.6744, rl_score: 0.6909, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.3739, grad_norm: 45.7337, il_score_sum: 66.6935, rl_score_sum: 68.6075, score_diff: -1.9140, il_win: 76.0000, rl_win: 479.0556
2025-09-24 18:16:22,316 - mmdet - INFO - Epoch [22][1840/3517]	lr: 1.951e-06, eta: 1:56:43, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1607, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2294, debug_std_frame_2: 0.2841, debug_std_frame_3: 0.3381, debug_std_frame_4: 0.3919, debug_std_frame_5: 0.4489, loss_rl: -0.2915, loss_critic: 1.4814, loss_rl_bc: 0.0076, il_score: 0.6556, rl_score: 0.6821, prev_frame_loss_waypoint_0: 0.1799, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5704, grad_norm: 38.2996, il_score_sum: 66.6935, rl_score_sum: 68.6075, score_diff: -1.9140, il_win: 76.0000, rl_win: 479.0556
2025-09-24 18:16:38,311 - mmdet - INFO - Epoch [22][1860/3517]	lr: 1.951e-06, eta: 1:56:27, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1621, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4211, loss_rl: -0.2677, loss_critic: 1.4794, loss_rl_bc: 0.0052, il_score: 0.6738, rl_score: 0.6882, prev_frame_loss_waypoint_0: 0.1843, prev_frame_loss_rl_bc_0: 0.0136, loss: 1.6030, grad_norm: 40.6752, il_score_sum: 66.7156, rl_score_sum: 68.6001, score_diff: -1.8845, il_win: 76.0000, rl_win: 479.5263
2025-09-24 18:16:54,099 - mmdet - INFO - Epoch [22][1880/3517]	lr: 1.951e-06, eta: 1:56:10, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1546, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2269, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4314, loss_rl: -0.2722, loss_critic: 1.6685, loss_rl_bc: 0.0052, il_score: 0.6327, rl_score: 0.6555, prev_frame_loss_waypoint_0: 0.1787, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.7652, grad_norm: 45.5655, il_score_sum: 66.7156, rl_score_sum: 68.6001, score_diff: -1.8845, il_win: 76.0000, rl_win: 479.5263
2025-09-24 18:17:10,020 - mmdet - INFO - Epoch [22][1900/3517]	lr: 1.951e-06, eta: 1:55:54, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1769, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2283, debug_std_frame_2: 0.2834, debug_std_frame_3: 0.3382, debug_std_frame_4: 0.3934, debug_std_frame_5: 0.4509, loss_rl: -0.2465, loss_critic: 1.2038, loss_rl_bc: 0.0094, il_score: 0.6487, rl_score: 0.6666, prev_frame_loss_waypoint_0: 0.1699, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3440, grad_norm: 44.2466, il_score_sum: 66.7156, rl_score_sum: 68.6001, score_diff: -1.8845, il_win: 76.0000, rl_win: 479.5263
2025-09-24 18:17:25,830 - mmdet - INFO - Epoch [22][1920/3517]	lr: 1.951e-06, eta: 1:55:38, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1543, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3688, debug_std_frame_5: 0.4228, loss_rl: -0.2718, loss_critic: 1.4738, loss_rl_bc: 0.0047, il_score: 0.6454, rl_score: 0.6511, prev_frame_loss_waypoint_0: 0.1761, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.5649, grad_norm: 43.9130, il_score_sum: 66.7156, rl_score_sum: 68.6001, score_diff: -1.8845, il_win: 76.0000, rl_win: 479.5263
2025-09-24 18:17:41,601 - mmdet - INFO - Epoch [22][1940/3517]	lr: 1.951e-06, eta: 1:55:22, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1660, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3769, debug_std_frame_5: 0.4347, loss_rl: -0.2468, loss_critic: 1.2468, loss_rl_bc: 0.0036, il_score: 0.6724, rl_score: 0.6855, prev_frame_loss_waypoint_0: 0.1914, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.3953, grad_norm: 44.5893, il_score_sum: 66.7156, rl_score_sum: 68.6001, score_diff: -1.8845, il_win: 76.0000, rl_win: 479.5263
2025-09-24 18:17:57,562 - mmdet - INFO - Epoch [22][1960/3517]	lr: 1.951e-06, eta: 1:55:06, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1658, debug_std_frame_0: 0.2099, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3278, debug_std_frame_4: 0.3782, debug_std_frame_5: 0.4358, loss_rl: -0.2493, loss_critic: 1.0606, loss_rl_bc: 0.0026, il_score: 0.6731, rl_score: 0.7055, prev_frame_loss_waypoint_0: 0.1917, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.2054, grad_norm: 33.4020, il_score_sum: 66.6420, rl_score_sum: 68.5092, score_diff: -1.8672, il_win: 76.0000, rl_win: 480.0000
2025-09-24 18:18:13,783 - mmdet - INFO - Epoch [22][1980/3517]	lr: 1.951e-06, eta: 1:54:50, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1706, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2280, debug_std_frame_2: 0.2805, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3848, debug_std_frame_5: 0.4437, loss_rl: -0.2617, loss_critic: 1.3192, loss_rl_bc: 0.0051, il_score: 0.6543, rl_score: 0.6935, prev_frame_loss_waypoint_0: 0.1883, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.4533, grad_norm: 39.6757, il_score_sum: 66.6420, rl_score_sum: 68.5092, score_diff: -1.8672, il_win: 76.0000, rl_win: 480.0000
2025-09-24 18:18:29,878 - mmdet - INFO - Epoch [22][2000/3517]	lr: 1.951e-06, eta: 1:54:34, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1467, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2262, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3197, debug_std_frame_4: 0.3690, debug_std_frame_5: 0.4213, loss_rl: -0.2951, loss_critic: 1.6562, loss_rl_bc: 0.0032, il_score: 0.6556, rl_score: 0.6642, prev_frame_loss_waypoint_0: 0.1686, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.7110, grad_norm: 36.4877, il_score_sum: 66.6420, rl_score_sum: 68.5092, score_diff: -1.8672, il_win: 76.0000, rl_win: 480.0000
2025-09-24 18:18:45,763 - mmdet - INFO - Epoch [22][2020/3517]	lr: 1.951e-06, eta: 1:54:18, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1792, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3780, debug_std_frame_5: 0.4353, loss_rl: -0.2518, loss_critic: 1.6697, loss_rl_bc: 0.0113, il_score: 0.6379, rl_score: 0.6500, prev_frame_loss_waypoint_0: 0.1855, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.8304, grad_norm: 44.1884, il_score_sum: 66.6420, rl_score_sum: 68.5092, score_diff: -1.8672, il_win: 76.0000, rl_win: 480.0000
2025-09-24 18:19:01,648 - mmdet - INFO - Epoch [22][2040/3517]	lr: 1.951e-06, eta: 1:54:02, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1621, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3240, debug_std_frame_4: 0.3751, debug_std_frame_5: 0.4279, loss_rl: -0.2906, loss_critic: 1.2401, loss_rl_bc: 0.0040, il_score: 0.6895, rl_score: 0.7167, prev_frame_loss_waypoint_0: 0.1654, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.3077, grad_norm: 39.0335, il_score_sum: 66.6420, rl_score_sum: 68.5092, score_diff: -1.8672, il_win: 76.0000, rl_win: 480.0000
2025-09-24 18:19:17,682 - mmdet - INFO - Epoch [22][2060/3517]	lr: 1.951e-06, eta: 1:53:46, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1657, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2251, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3733, debug_std_frame_5: 0.4277, loss_rl: -0.2683, loss_critic: 1.2950, loss_rl_bc: 0.0040, il_score: 0.6790, rl_score: 0.6881, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.3987, grad_norm: 31.5266, il_score_sum: 66.7387, rl_score_sum: 68.6027, score_diff: -1.8639, il_win: 76.0000, rl_win: 480.9500
2025-09-24 18:19:33,780 - mmdet - INFO - Epoch [22][2080/3517]	lr: 1.951e-06, eta: 1:53:30, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1411, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3690, debug_std_frame_5: 0.4249, loss_rl: -0.2713, loss_critic: 1.5451, loss_rl_bc: -0.0011, il_score: 0.6617, rl_score: 0.6837, prev_frame_loss_waypoint_0: 0.1533, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.5937, grad_norm: 40.4075, il_score_sum: 66.7387, rl_score_sum: 68.6027, score_diff: -1.8639, il_win: 76.0000, rl_win: 480.9500
2025-09-24 18:19:49,642 - mmdet - INFO - Epoch [22][2100/3517]	lr: 1.951e-06, eta: 1:53:13, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1382, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2666, debug_std_frame_3: 0.3184, debug_std_frame_4: 0.3700, debug_std_frame_5: 0.4234, loss_rl: -0.2987, loss_critic: 1.3264, loss_rl_bc: 0.0011, il_score: 0.6887, rl_score: 0.6976, prev_frame_loss_waypoint_0: 0.1575, prev_frame_loss_rl_bc_0: -0.0007, loss: 1.3487, grad_norm: 37.8047, il_score_sum: 66.7387, rl_score_sum: 68.6027, score_diff: -1.8639, il_win: 76.0000, rl_win: 480.9500
2025-09-24 18:20:05,505 - mmdet - INFO - Epoch [22][2120/3517]	lr: 1.951e-06, eta: 1:52:57, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1587, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4322, loss_rl: -0.2684, loss_critic: 1.4095, loss_rl_bc: 0.0033, il_score: 0.6669, rl_score: 0.6792, prev_frame_loss_waypoint_0: 0.1681, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.4998, grad_norm: 34.9544, il_score_sum: 66.7387, rl_score_sum: 68.6027, score_diff: -1.8639, il_win: 76.0000, rl_win: 480.9500
2025-09-24 18:20:21,382 - mmdet - INFO - Epoch [22][2140/3517]	lr: 1.951e-06, eta: 1:52:41, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1560, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3178, debug_std_frame_4: 0.3673, debug_std_frame_5: 0.4203, loss_rl: -0.2737, loss_critic: 1.5122, loss_rl_bc: 0.0034, il_score: 0.6661, rl_score: 0.6906, prev_frame_loss_waypoint_0: 0.1677, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.5943, grad_norm: 36.2972, il_score_sum: 66.7387, rl_score_sum: 68.6027, score_diff: -1.8639, il_win: 76.0000, rl_win: 480.9500
2025-09-24 18:20:37,446 - mmdet - INFO - Epoch [22][2160/3517]	lr: 1.951e-06, eta: 1:52:25, time: 0.803, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1590, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4322, loss_rl: -0.3209, loss_critic: 1.3141, loss_rl_bc: 0.0043, il_score: 0.6990, rl_score: 0.7210, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3599, grad_norm: 45.5432, il_score_sum: 66.6861, rl_score_sum: 68.5398, score_diff: -1.8537, il_win: 76.0000, rl_win: 481.9000
2025-09-24 18:20:53,257 - mmdet - INFO - Epoch [22][2180/3517]	lr: 1.951e-06, eta: 1:52:09, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1723, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3298, debug_std_frame_4: 0.3829, debug_std_frame_5: 0.4390, loss_rl: -0.2580, loss_critic: 1.3581, loss_rl_bc: 0.0064, il_score: 0.6582, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.1804, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.4921, grad_norm: 44.6999, il_score_sum: 66.6861, rl_score_sum: 68.5398, score_diff: -1.8537, il_win: 76.0000, rl_win: 481.9000
2025-09-24 18:21:09,023 - mmdet - INFO - Epoch [22][2200/3517]	lr: 1.951e-06, eta: 1:51:53, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1594, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2675, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3633, debug_std_frame_5: 0.4148, loss_rl: -0.3274, loss_critic: 1.3381, loss_rl_bc: 0.0027, il_score: 0.6803, rl_score: 0.7155, prev_frame_loss_waypoint_0: 0.1677, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.3737, grad_norm: 37.0783, il_score_sum: 66.6861, rl_score_sum: 68.5398, score_diff: -1.8537, il_win: 76.0000, rl_win: 481.9000
2025-09-24 18:21:25,001 - mmdet - INFO - Epoch [22][2220/3517]	lr: 1.951e-06, eta: 1:51:37, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1690, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3236, debug_std_frame_4: 0.3739, debug_std_frame_5: 0.4305, loss_rl: -0.2708, loss_critic: 1.4128, loss_rl_bc: 0.0057, il_score: 0.7048, rl_score: 0.7037, prev_frame_loss_waypoint_0: 0.1644, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5083, grad_norm: 40.7647, il_score_sum: 66.6861, rl_score_sum: 68.5398, score_diff: -1.8537, il_win: 76.0000, rl_win: 481.9000
2025-09-24 18:21:40,947 - mmdet - INFO - Epoch [22][2240/3517]	lr: 1.951e-06, eta: 1:51:21, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1866, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2257, debug_std_frame_2: 0.2777, debug_std_frame_3: 0.3315, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4473, loss_rl: -0.2490, loss_critic: 1.4127, loss_rl_bc: 0.0138, il_score: 0.6645, rl_score: 0.6604, prev_frame_loss_waypoint_0: 0.2035, prev_frame_loss_rl_bc_0: 0.0125, loss: 1.6051, grad_norm: 41.4693, il_score_sum: 66.6861, rl_score_sum: 68.5398, score_diff: -1.8537, il_win: 76.0000, rl_win: 481.9000
2025-09-24 18:21:57,138 - mmdet - INFO - Epoch [22][2260/3517]	lr: 1.951e-06, eta: 1:51:05, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1655, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3265, debug_std_frame_4: 0.3798, debug_std_frame_5: 0.4372, loss_rl: -0.2651, loss_critic: 1.1375, loss_rl_bc: 0.0047, il_score: 0.6585, rl_score: 0.6776, prev_frame_loss_waypoint_0: 0.1902, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.2659, grad_norm: 31.0003, il_score_sum: 66.8157, rl_score_sum: 68.6052, score_diff: -1.7895, il_win: 76.0000, rl_win: 482.8500
2025-09-24 18:22:13,110 - mmdet - INFO - Epoch [22][2280/3517]	lr: 1.951e-06, eta: 1:50:49, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1478, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4227, loss_rl: -0.2771, loss_critic: 1.3217, loss_rl_bc: 0.0014, il_score: 0.6805, rl_score: 0.7010, prev_frame_loss_waypoint_0: 0.1696, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.3970, grad_norm: 37.5811, il_score_sum: 66.8157, rl_score_sum: 68.6052, score_diff: -1.7895, il_win: 76.0000, rl_win: 482.8500
2025-09-24 18:22:29,211 - mmdet - INFO - Epoch [22][2300/3517]	lr: 1.951e-06, eta: 1:50:32, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1652, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2715, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3732, debug_std_frame_5: 0.4283, loss_rl: -0.3230, loss_critic: 1.2978, loss_rl_bc: 0.0041, il_score: 0.6623, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1887, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.3667, grad_norm: 43.4044, il_score_sum: 66.8157, rl_score_sum: 68.6052, score_diff: -1.7895, il_win: 76.0000, rl_win: 482.8500
2025-09-24 18:22:45,253 - mmdet - INFO - Epoch [22][2320/3517]	lr: 1.951e-06, eta: 1:50:16, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1545, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2701, debug_std_frame_3: 0.3204, debug_std_frame_4: 0.3713, debug_std_frame_5: 0.4257, loss_rl: -0.3188, loss_critic: 1.2187, loss_rl_bc: 0.0023, il_score: 0.6975, rl_score: 0.7161, prev_frame_loss_waypoint_0: 0.1711, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.2584, grad_norm: 32.2368, il_score_sum: 66.8157, rl_score_sum: 68.6052, score_diff: -1.7895, il_win: 76.0000, rl_win: 482.8500
2025-09-24 18:23:01,147 - mmdet - INFO - Epoch [22][2340/3517]	lr: 1.951e-06, eta: 1:50:00, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1650, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3211, debug_std_frame_4: 0.3748, debug_std_frame_5: 0.4316, loss_rl: -0.2742, loss_critic: 1.5770, loss_rl_bc: 0.0047, il_score: 0.6378, rl_score: 0.6630, prev_frame_loss_waypoint_0: 0.1660, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.6692, grad_norm: 35.1141, il_score_sum: 66.8157, rl_score_sum: 68.6052, score_diff: -1.7895, il_win: 76.0000, rl_win: 482.8500
2025-09-24 18:23:17,162 - mmdet - INFO - Epoch [22][2360/3517]	lr: 1.951e-06, eta: 1:49:44, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1610, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2679, debug_std_frame_3: 0.3191, debug_std_frame_4: 0.3693, debug_std_frame_5: 0.4230, loss_rl: -0.2469, loss_critic: 1.3992, loss_rl_bc: 0.0044, il_score: 0.6607, rl_score: 0.6532, prev_frame_loss_waypoint_0: 0.1907, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.5418, grad_norm: 40.7658, il_score_sum: 66.8034, rl_score_sum: 68.6212, score_diff: -1.8178, il_win: 76.0000, rl_win: 483.8000
2025-09-24 18:23:33,134 - mmdet - INFO - Epoch [22][2380/3517]	lr: 1.951e-06, eta: 1:49:28, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1471, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3753, debug_std_frame_5: 0.4311, loss_rl: -0.2874, loss_critic: 1.2502, loss_rl_bc: 0.0009, il_score: 0.6773, rl_score: 0.6993, prev_frame_loss_waypoint_0: 0.1657, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.3054, grad_norm: 34.6287, il_score_sum: 66.8034, rl_score_sum: 68.6212, score_diff: -1.8178, il_win: 76.0000, rl_win: 483.8000
2025-09-24 18:23:49,107 - mmdet - INFO - Epoch [22][2400/3517]	lr: 1.951e-06, eta: 1:49:12, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1630, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3225, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4269, loss_rl: -0.2582, loss_critic: 1.4889, loss_rl_bc: 0.0070, il_score: 0.6698, rl_score: 0.6928, prev_frame_loss_waypoint_0: 0.1644, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.5938, grad_norm: 42.4892, il_score_sum: 66.8034, rl_score_sum: 68.6212, score_diff: -1.8178, il_win: 76.0000, rl_win: 483.8000
2025-09-24 18:24:04,979 - mmdet - INFO - Epoch [22][2420/3517]	lr: 1.951e-06, eta: 1:48:56, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1679, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3280, debug_std_frame_4: 0.3820, debug_std_frame_5: 0.4398, loss_rl: -0.2709, loss_critic: 1.3197, loss_rl_bc: 0.0047, il_score: 0.6465, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1653, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.4157, grad_norm: 42.6931, il_score_sum: 66.8034, rl_score_sum: 68.6212, score_diff: -1.8178, il_win: 76.0000, rl_win: 483.8000
2025-09-24 18:24:20,801 - mmdet - INFO - Epoch [22][2440/3517]	lr: 1.951e-06, eta: 1:48:40, time: 0.791, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1441, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3174, debug_std_frame_4: 0.3670, debug_std_frame_5: 0.4182, loss_rl: -0.2815, loss_critic: 1.5767, loss_rl_bc: 0.0015, il_score: 0.6835, rl_score: 0.7072, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.6485, grad_norm: 41.3721, il_score_sum: 66.8034, rl_score_sum: 68.6212, score_diff: -1.8178, il_win: 76.0000, rl_win: 483.8000
2025-09-24 18:24:36,825 - mmdet - INFO - Epoch [22][2460/3517]	lr: 1.951e-06, eta: 1:48:24, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1747, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3675, debug_std_frame_5: 0.4217, loss_rl: -0.2755, loss_critic: 1.1311, loss_rl_bc: 0.0117, il_score: 0.6870, rl_score: 0.7057, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.2675, grad_norm: 45.9958, il_score_sum: 66.8611, rl_score_sum: 68.6713, score_diff: -1.8102, il_win: 76.0000, rl_win: 484.7500
2025-09-24 18:24:52,699 - mmdet - INFO - Epoch [22][2480/3517]	lr: 1.951e-06, eta: 1:48:08, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1531, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3175, debug_std_frame_4: 0.3658, debug_std_frame_5: 0.4191, loss_rl: -0.2976, loss_critic: 1.2463, loss_rl_bc: 0.0023, il_score: 0.6884, rl_score: 0.7016, prev_frame_loss_waypoint_0: 0.1713, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.3041, grad_norm: 31.6688, il_score_sum: 66.8611, rl_score_sum: 68.6713, score_diff: -1.8102, il_win: 76.0000, rl_win: 484.7500
2025-09-24 18:25:08,621 - mmdet - INFO - Epoch [22][2500/3517]	lr: 1.951e-06, eta: 1:47:52, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1722, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2730, debug_std_frame_3: 0.3263, debug_std_frame_4: 0.3759, debug_std_frame_5: 0.4324, loss_rl: -0.2961, loss_critic: 1.3276, loss_rl_bc: 0.0067, il_score: 0.6803, rl_score: 0.7099, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.4158, grad_norm: 40.8423, il_score_sum: 66.8611, rl_score_sum: 68.6713, score_diff: -1.8102, il_win: 76.0000, rl_win: 484.7500
2025-09-24 18:25:24,343 - mmdet - INFO - Epoch [22][2520/3517]	lr: 1.951e-06, eta: 1:47:35, time: 0.786, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1756, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2765, debug_std_frame_3: 0.3313, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4449, loss_rl: -0.2540, loss_critic: 1.2814, loss_rl_bc: 0.0107, il_score: 0.6732, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.4281, grad_norm: 34.9795, il_score_sum: 66.8611, rl_score_sum: 68.6713, score_diff: -1.8102, il_win: 76.0000, rl_win: 484.7500
2025-09-24 18:25:40,073 - mmdet - INFO - Epoch [22][2540/3517]	lr: 1.951e-06, eta: 1:47:19, time: 0.787, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1635, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4314, loss_rl: -0.2584, loss_critic: 1.2144, loss_rl_bc: 0.0051, il_score: 0.6823, rl_score: 0.6857, prev_frame_loss_waypoint_0: 0.1782, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.3315, grad_norm: 36.7141, il_score_sum: 66.8611, rl_score_sum: 68.6713, score_diff: -1.8102, il_win: 76.0000, rl_win: 484.7500
2025-09-24 18:25:56,382 - mmdet - INFO - Epoch [22][2560/3517]	lr: 1.951e-06, eta: 1:47:03, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1657, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3207, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4282, loss_rl: -0.2792, loss_critic: 1.4396, loss_rl_bc: 0.0079, il_score: 0.6653, rl_score: 0.6812, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.5364, grad_norm: 36.5592, il_score_sum: 66.9066, rl_score_sum: 68.7321, score_diff: -1.8255, il_win: 76.0000, rl_win: 485.7000
2025-09-24 18:26:12,348 - mmdet - INFO - Epoch [22][2580/3517]	lr: 1.951e-06, eta: 1:46:47, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1589, debug_std_frame_0: 0.2092, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3266, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4327, loss_rl: -0.2340, loss_critic: 1.5767, loss_rl_bc: 0.0044, il_score: 0.6504, rl_score: 0.6417, prev_frame_loss_waypoint_0: 0.1626, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.6957, grad_norm: 32.4628, il_score_sum: 66.9066, rl_score_sum: 68.7321, score_diff: -1.8255, il_win: 76.0000, rl_win: 485.7000
2025-09-24 18:26:28,283 - mmdet - INFO - Epoch [22][2600/3517]	lr: 1.951e-06, eta: 1:46:31, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1527, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2267, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3242, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4334, loss_rl: -0.2355, loss_critic: 1.3851, loss_rl_bc: 0.0038, il_score: 0.6585, rl_score: 0.6767, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.5116, grad_norm: 35.8321, il_score_sum: 66.9066, rl_score_sum: 68.7321, score_diff: -1.8255, il_win: 76.0000, rl_win: 485.7000
2025-09-24 18:26:44,053 - mmdet - INFO - Epoch [22][2620/3517]	lr: 1.951e-06, eta: 1:46:15, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1502, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3730, debug_std_frame_5: 0.4235, loss_rl: -0.2940, loss_critic: 1.1962, loss_rl_bc: 0.0020, il_score: 0.7177, rl_score: 0.7125, prev_frame_loss_waypoint_0: 0.1798, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.2640, grad_norm: 38.6737, il_score_sum: 66.9066, rl_score_sum: 68.7321, score_diff: -1.8255, il_win: 76.0000, rl_win: 485.7000
2025-09-24 18:27:00,009 - mmdet - INFO - Epoch [22][2640/3517]	lr: 1.951e-06, eta: 1:45:59, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1550, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4281, loss_rl: -0.2609, loss_critic: 1.3925, loss_rl_bc: 0.0022, il_score: 0.6651, rl_score: 0.6738, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4927, grad_norm: 41.1356, il_score_sum: 66.9066, rl_score_sum: 68.7321, score_diff: -1.8255, il_win: 76.0000, rl_win: 485.7000
2025-09-24 18:27:16,016 - mmdet - INFO - Epoch [22][2660/3517]	lr: 1.951e-06, eta: 1:45:43, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1678, debug_std_frame_0: 0.2093, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2667, debug_std_frame_3: 0.3146, debug_std_frame_4: 0.3635, debug_std_frame_5: 0.4187, loss_rl: -0.2763, loss_critic: 1.1554, loss_rl_bc: 0.0061, il_score: 0.6872, rl_score: 0.7090, prev_frame_loss_waypoint_0: 0.1688, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.2499, grad_norm: 34.5201, il_score_sum: 66.8893, rl_score_sum: 68.6258, score_diff: -1.7365, il_win: 76.0000, rl_win: 486.6000
2025-09-24 18:27:32,017 - mmdet - INFO - Epoch [22][2680/3517]	lr: 1.951e-06, eta: 1:45:27, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1496, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2193, debug_std_frame_2: 0.2650, debug_std_frame_3: 0.3091, debug_std_frame_4: 0.3587, debug_std_frame_5: 0.4079, loss_rl: -0.2799, loss_critic: 1.2915, loss_rl_bc: 0.0018, il_score: 0.6847, rl_score: 0.7092, prev_frame_loss_waypoint_0: 0.1533, prev_frame_loss_rl_bc_0: -0.0008, loss: 1.3407, grad_norm: 43.9710, il_score_sum: 66.8893, rl_score_sum: 68.6258, score_diff: -1.7365, il_win: 76.0000, rl_win: 486.6000
2025-09-24 18:27:47,998 - mmdet - INFO - Epoch [22][2700/3517]	lr: 1.951e-06, eta: 1:45:11, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1559, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2660, debug_std_frame_3: 0.3197, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4243, loss_rl: -0.2786, loss_critic: 1.2641, loss_rl_bc: 0.0039, il_score: 0.7005, rl_score: 0.6929, prev_frame_loss_waypoint_0: 0.1647, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.3357, grad_norm: 32.3785, il_score_sum: 66.8893, rl_score_sum: 68.6258, score_diff: -1.7365, il_win: 76.0000, rl_win: 486.6000
2025-09-24 18:28:03,942 - mmdet - INFO - Epoch [22][2720/3517]	lr: 1.951e-06, eta: 1:44:55, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1718, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3257, debug_std_frame_4: 0.3788, debug_std_frame_5: 0.4368, loss_rl: -0.2667, loss_critic: 1.4136, loss_rl_bc: 0.0075, il_score: 0.6781, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.5446, grad_norm: 37.1444, il_score_sum: 66.8893, rl_score_sum: 68.6258, score_diff: -1.7365, il_win: 76.0000, rl_win: 486.6000
2025-09-24 18:28:19,740 - mmdet - INFO - Epoch [22][2740/3517]	lr: 1.951e-06, eta: 1:44:38, time: 0.790, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1766, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4340, loss_rl: -0.2605, loss_critic: 1.4248, loss_rl_bc: 0.0077, il_score: 0.6634, rl_score: 0.6666, prev_frame_loss_waypoint_0: 0.2016, prev_frame_loss_rl_bc_0: 0.0099, loss: 1.5860, grad_norm: 39.2796, il_score_sum: 66.8893, rl_score_sum: 68.6258, score_diff: -1.7365, il_win: 76.0000, rl_win: 486.6000
2025-09-24 18:28:35,666 - mmdet - INFO - Epoch [22][2760/3517]	lr: 1.951e-06, eta: 1:44:22, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1644, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4320, loss_rl: -0.2696, loss_critic: 1.1166, loss_rl_bc: 0.0029, il_score: 0.6897, rl_score: 0.7053, prev_frame_loss_waypoint_0: 0.1804, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.2274, grad_norm: 37.3097, il_score_sum: 66.9605, rl_score_sum: 68.6257, score_diff: -1.6651, il_win: 76.0000, rl_win: 487.4500
2025-09-24 18:28:51,501 - mmdet - INFO - Epoch [22][2780/3517]	lr: 1.951e-06, eta: 1:44:06, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1394, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3194, debug_std_frame_4: 0.3677, debug_std_frame_5: 0.4191, loss_rl: -0.3482, loss_critic: 1.1690, loss_rl_bc: -0.0015, il_score: 0.7071, rl_score: 0.7282, prev_frame_loss_waypoint_0: 0.1637, prev_frame_loss_rl_bc_0: 0.0025, loss: 1.1504, grad_norm: 40.0211, il_score_sum: 66.9605, rl_score_sum: 68.6257, score_diff: -1.6651, il_win: 76.0000, rl_win: 487.4500
2025-09-24 18:29:07,603 - mmdet - INFO - Epoch [22][2800/3517]	lr: 1.951e-06, eta: 1:43:50, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1694, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3264, debug_std_frame_4: 0.3810, debug_std_frame_5: 0.4387, loss_rl: -0.2719, loss_critic: 1.3674, loss_rl_bc: 0.0065, il_score: 0.6602, rl_score: 0.6888, prev_frame_loss_waypoint_0: 0.1935, prev_frame_loss_rl_bc_0: 0.0114, loss: 1.5022, grad_norm: 42.9054, il_score_sum: 66.9605, rl_score_sum: 68.6257, score_diff: -1.6651, il_win: 76.0000, rl_win: 487.4500
2025-09-24 18:29:23,641 - mmdet - INFO - Epoch [22][2820/3517]	lr: 1.951e-06, eta: 1:43:34, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1657, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3683, debug_std_frame_5: 0.4244, loss_rl: -0.2940, loss_critic: 1.4242, loss_rl_bc: 0.0063, il_score: 0.6735, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.1692, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.5040, grad_norm: 37.0505, il_score_sum: 66.9605, rl_score_sum: 68.6257, score_diff: -1.6651, il_win: 76.0000, rl_win: 487.4500
2025-09-24 18:29:39,388 - mmdet - INFO - Epoch [22][2840/3517]	lr: 1.951e-06, eta: 1:43:18, time: 0.787, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1599, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3248, debug_std_frame_4: 0.3796, debug_std_frame_5: 0.4368, loss_rl: -0.2789, loss_critic: 1.7370, loss_rl_bc: 0.0038, il_score: 0.6876, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1614, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.8116, grad_norm: 41.6222, il_score_sum: 66.9605, rl_score_sum: 68.6257, score_diff: -1.6651, il_win: 76.0000, rl_win: 487.4500
2025-09-24 18:29:55,588 - mmdet - INFO - Epoch [22][2860/3517]	lr: 1.951e-06, eta: 1:43:02, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1430, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4371, loss_rl: -0.2864, loss_critic: 1.3579, loss_rl_bc: 0.0003, il_score: 0.6705, rl_score: 0.6814, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0087, loss: 1.4236, grad_norm: 48.1909, il_score_sum: 67.0468, rl_score_sum: 68.7288, score_diff: -1.6820, il_win: 76.0000, rl_win: 488.3000
2025-09-24 18:30:11,587 - mmdet - INFO - Epoch [22][2880/3517]	lr: 1.951e-06, eta: 1:42:46, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1749, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3204, debug_std_frame_4: 0.3699, debug_std_frame_5: 0.4277, loss_rl: -0.2927, loss_critic: 1.0083, loss_rl_bc: 0.0049, il_score: 0.6909, rl_score: 0.7048, prev_frame_loss_waypoint_0: 0.1865, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.1110, grad_norm: 44.4772, il_score_sum: 67.0468, rl_score_sum: 68.7288, score_diff: -1.6820, il_win: 76.0000, rl_win: 488.3000
2025-09-24 18:30:27,711 - mmdet - INFO - Epoch [22][2900/3517]	lr: 1.951e-06, eta: 1:42:30, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1471, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2183, debug_std_frame_2: 0.2630, debug_std_frame_3: 0.3094, debug_std_frame_4: 0.3576, debug_std_frame_5: 0.4105, loss_rl: -0.2971, loss_critic: 1.2917, loss_rl_bc: -0.0003, il_score: 0.7158, rl_score: 0.7331, prev_frame_loss_waypoint_0: 0.1529, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.3213, grad_norm: 40.7740, il_score_sum: 67.0468, rl_score_sum: 68.7288, score_diff: -1.6820, il_win: 76.0000, rl_win: 488.3000
2025-09-24 18:30:43,601 - mmdet - INFO - Epoch [22][2920/3517]	lr: 1.951e-06, eta: 1:42:14, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1697, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3290, debug_std_frame_4: 0.3843, debug_std_frame_5: 0.4443, loss_rl: -0.2518, loss_critic: 1.6608, loss_rl_bc: 0.0089, il_score: 0.6167, rl_score: 0.6413, prev_frame_loss_waypoint_0: 0.1861, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.8087, grad_norm: 36.9769, il_score_sum: 67.0468, rl_score_sum: 68.7288, score_diff: -1.6820, il_win: 76.0000, rl_win: 488.3000
2025-09-24 18:30:59,427 - mmdet - INFO - Epoch [22][2940/3517]	lr: 1.951e-06, eta: 1:41:58, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1647, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2663, debug_std_frame_3: 0.3146, debug_std_frame_4: 0.3647, debug_std_frame_5: 0.4154, loss_rl: -0.2580, loss_critic: 1.3687, loss_rl_bc: 0.0066, il_score: 0.6460, rl_score: 0.6800, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.4927, grad_norm: 47.5441, il_score_sum: 67.0468, rl_score_sum: 68.7288, score_diff: -1.6820, il_win: 76.0000, rl_win: 488.3000
2025-09-24 18:31:15,479 - mmdet - INFO - Epoch [22][2960/3517]	lr: 1.951e-06, eta: 1:41:41, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1604, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2251, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3203, debug_std_frame_4: 0.3703, debug_std_frame_5: 0.4220, loss_rl: -0.3112, loss_critic: 1.2939, loss_rl_bc: 0.0035, il_score: 0.7015, rl_score: 0.6796, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.3563, grad_norm: 31.8350, il_score_sum: 67.0486, rl_score_sum: 68.7189, score_diff: -1.6703, il_win: 76.0000, rl_win: 489.1500
2025-09-24 18:31:31,362 - mmdet - INFO - Epoch [22][2980/3517]	lr: 1.951e-06, eta: 1:41:25, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1731, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3780, debug_std_frame_5: 0.4357, loss_rl: -0.2517, loss_critic: 1.3945, loss_rl_bc: 0.0457, il_score: 0.6625, rl_score: 0.6877, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0269, loss: 1.5989, grad_norm: 47.0874, il_score_sum: 67.0486, rl_score_sum: 68.7189, score_diff: -1.6703, il_win: 76.0000, rl_win: 489.1500
2025-09-24 18:31:47,200 - mmdet - INFO - Epoch [22][3000/3517]	lr: 1.951e-06, eta: 1:41:09, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1598, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4352, loss_rl: -0.2649, loss_critic: 1.2497, loss_rl_bc: 0.0033, il_score: 0.6603, rl_score: 0.6954, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.3495, grad_norm: 34.2350, il_score_sum: 67.0486, rl_score_sum: 68.7189, score_diff: -1.6703, il_win: 76.0000, rl_win: 489.1500
2025-09-24 18:32:02,993 - mmdet - INFO - Epoch [22][3020/3517]	lr: 1.951e-06, eta: 1:40:53, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1691, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3253, debug_std_frame_4: 0.3774, debug_std_frame_5: 0.4328, loss_rl: -0.2432, loss_critic: 1.3927, loss_rl_bc: 0.0063, il_score: 0.6839, rl_score: 0.6900, prev_frame_loss_waypoint_0: 0.1892, prev_frame_loss_rl_bc_0: 0.0107, loss: 1.5493, grad_norm: 39.9585, il_score_sum: 67.0486, rl_score_sum: 68.7189, score_diff: -1.6703, il_win: 76.0000, rl_win: 489.1500
2025-09-24 18:32:18,941 - mmdet - INFO - Epoch [22][3040/3517]	lr: 1.951e-06, eta: 1:40:37, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1609, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2831, debug_std_frame_3: 0.3402, debug_std_frame_4: 0.3952, debug_std_frame_5: 0.4543, loss_rl: -0.2709, loss_critic: 1.3478, loss_rl_bc: 0.0051, il_score: 0.6731, rl_score: 0.6787, prev_frame_loss_waypoint_0: 0.1795, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.4564, grad_norm: 36.0710, il_score_sum: 67.0486, rl_score_sum: 68.7189, score_diff: -1.6703, il_win: 76.0000, rl_win: 489.1500
2025-09-24 18:32:34,979 - mmdet - INFO - Epoch [22][3060/3517]	lr: 1.951e-06, eta: 1:40:21, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1524, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2717, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3674, debug_std_frame_5: 0.4203, loss_rl: -0.2685, loss_critic: 1.3578, loss_rl_bc: 0.0011, il_score: 0.7151, rl_score: 0.6971, prev_frame_loss_waypoint_0: 0.1642, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.4353, grad_norm: 37.0352, il_score_sum: 67.0897, rl_score_sum: 68.7739, score_diff: -1.6843, il_win: 76.0000, rl_win: 490.0500
2025-09-24 18:32:50,752 - mmdet - INFO - Epoch [22][3080/3517]	lr: 1.951e-06, eta: 1:40:05, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1741, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2256, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3199, debug_std_frame_4: 0.3714, debug_std_frame_5: 0.4275, loss_rl: -0.2670, loss_critic: 0.9398, loss_rl_bc: 0.0037, il_score: 0.6968, rl_score: 0.7412, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.0535, grad_norm: 47.6534, il_score_sum: 67.0897, rl_score_sum: 68.7739, score_diff: -1.6843, il_win: 76.0000, rl_win: 490.0500
2025-09-24 18:33:06,630 - mmdet - INFO - Epoch [22][3100/3517]	lr: 1.951e-06, eta: 1:39:49, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1580, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2190, debug_std_frame_2: 0.2623, debug_std_frame_3: 0.3061, debug_std_frame_4: 0.3528, debug_std_frame_5: 0.4034, loss_rl: -0.2696, loss_critic: 1.3440, loss_rl_bc: 0.0019, il_score: 0.6892, rl_score: 0.7052, prev_frame_loss_waypoint_0: 0.1600, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.4214, grad_norm: 38.1885, il_score_sum: 67.0897, rl_score_sum: 68.7739, score_diff: -1.6843, il_win: 76.0000, rl_win: 490.0500
2025-09-24 18:33:22,465 - mmdet - INFO - Epoch [22][3120/3517]	lr: 1.951e-06, eta: 1:39:33, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1683, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2245, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3751, debug_std_frame_5: 0.4303, loss_rl: -0.2522, loss_critic: 1.2248, loss_rl_bc: 0.0093, il_score: 0.7026, rl_score: 0.7020, prev_frame_loss_waypoint_0: 0.1676, prev_frame_loss_rl_bc_0: 0.0042, loss: 1.3460, grad_norm: 32.1218, il_score_sum: 67.0897, rl_score_sum: 68.7739, score_diff: -1.6843, il_win: 76.0000, rl_win: 490.0500
2025-09-24 18:33:38,560 - mmdet - INFO - Epoch [22][3140/3517]	lr: 1.951e-06, eta: 1:39:17, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1543, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3226, debug_std_frame_4: 0.3749, debug_std_frame_5: 0.4318, loss_rl: -0.2750, loss_critic: 1.2832, loss_rl_bc: 0.0032, il_score: 0.6824, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1661, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.3570, grad_norm: 39.8521, il_score_sum: 67.0897, rl_score_sum: 68.7739, score_diff: -1.6843, il_win: 76.0000, rl_win: 490.0500
2025-09-24 18:33:54,598 - mmdet - INFO - Epoch [22][3160/3517]	lr: 1.951e-06, eta: 1:39:01, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0238, loss_waypoint: 0.1477, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2179, debug_std_frame_2: 0.2672, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3687, debug_std_frame_5: 0.4238, loss_rl: -0.2612, loss_critic: 1.2985, loss_rl_bc: -0.0005, il_score: 0.6845, rl_score: 0.7239, prev_frame_loss_waypoint_0: 0.1579, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.3698, grad_norm: 34.8843, il_score_sum: 67.2698, rl_score_sum: 68.8402, score_diff: -1.5704, il_win: 76.0000, rl_win: 490.9000
2025-09-24 18:34:10,402 - mmdet - INFO - Epoch [22][3180/3517]	lr: 1.951e-06, eta: 1:38:44, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1404, debug_std_frame_0: 0.2042, debug_std_frame_1: 0.2180, debug_std_frame_2: 0.2629, debug_std_frame_3: 0.3081, debug_std_frame_4: 0.3583, debug_std_frame_5: 0.4116, loss_rl: -0.2932, loss_critic: 1.3035, loss_rl_bc: -0.0006, il_score: 0.6779, rl_score: 0.7067, prev_frame_loss_waypoint_0: 0.1688, prev_frame_loss_rl_bc_0: 0.0071, loss: 1.3515, grad_norm: 32.3245, il_score_sum: 67.2698, rl_score_sum: 68.8402, score_diff: -1.5704, il_win: 76.0000, rl_win: 490.9000
2025-09-24 18:34:26,337 - mmdet - INFO - Epoch [22][3200/3517]	lr: 1.951e-06, eta: 1:38:28, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1507, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2192, debug_std_frame_2: 0.2651, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3643, debug_std_frame_5: 0.4151, loss_rl: -0.2578, loss_critic: 1.2296, loss_rl_bc: 0.0016, il_score: 0.6671, rl_score: 0.6844, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0044, loss: 1.3251, grad_norm: 35.3567, il_score_sum: 67.2698, rl_score_sum: 68.8402, score_diff: -1.5704, il_win: 76.0000, rl_win: 490.9000
2025-09-24 18:34:42,252 - mmdet - INFO - Epoch [22][3220/3517]	lr: 1.951e-06, eta: 1:38:12, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1665, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3655, debug_std_frame_5: 0.4228, loss_rl: -0.2555, loss_critic: 1.1294, loss_rl_bc: 0.0060, il_score: 0.6884, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1802, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.2559, grad_norm: 38.6747, il_score_sum: 67.2698, rl_score_sum: 68.8402, score_diff: -1.5704, il_win: 76.0000, rl_win: 490.9000
2025-09-24 18:34:58,177 - mmdet - INFO - Epoch [22][3240/3517]	lr: 1.951e-06, eta: 1:37:56, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1434, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2662, debug_std_frame_3: 0.3153, debug_std_frame_4: 0.3645, debug_std_frame_5: 0.4197, loss_rl: -0.2914, loss_critic: 1.2212, loss_rl_bc: -0.0017, il_score: 0.6604, rl_score: 0.6986, prev_frame_loss_waypoint_0: 0.1585, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.2587, grad_norm: 33.2076, il_score_sum: 67.2698, rl_score_sum: 68.8402, score_diff: -1.5704, il_win: 76.0000, rl_win: 490.9000
2025-09-24 18:35:14,140 - mmdet - INFO - Epoch [22][3260/3517]	lr: 1.951e-06, eta: 1:37:40, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1624, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3691, debug_std_frame_5: 0.4265, loss_rl: -0.2643, loss_critic: 1.0711, loss_rl_bc: 0.0029, il_score: 0.7019, rl_score: 0.7019, prev_frame_loss_waypoint_0: 0.1792, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.1823, grad_norm: 36.0690, il_score_sum: 67.3069, rl_score_sum: 68.9311, score_diff: -1.6242, il_win: 76.0000, rl_win: 491.7500
2025-09-24 18:35:30,059 - mmdet - INFO - Epoch [22][3280/3517]	lr: 1.951e-06, eta: 1:37:24, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1732, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3782, debug_std_frame_5: 0.4309, loss_rl: -0.2666, loss_critic: 1.4268, loss_rl_bc: 0.0089, il_score: 0.6640, rl_score: 0.6757, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.5500, grad_norm: 42.1172, il_score_sum: 67.3069, rl_score_sum: 68.9311, score_diff: -1.6242, il_win: 76.0000, rl_win: 491.7500
2025-09-24 18:35:46,044 - mmdet - INFO - Epoch [22][3300/3517]	lr: 1.951e-06, eta: 1:37:08, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1462, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2201, debug_std_frame_2: 0.2644, debug_std_frame_3: 0.3113, debug_std_frame_4: 0.3609, debug_std_frame_5: 0.4133, loss_rl: -0.3154, loss_critic: 1.3484, loss_rl_bc: -0.0014, il_score: 0.7057, rl_score: 0.7225, prev_frame_loss_waypoint_0: 0.1658, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3733, grad_norm: 42.7156, il_score_sum: 67.3069, rl_score_sum: 68.9311, score_diff: -1.6242, il_win: 76.0000, rl_win: 491.7500
2025-09-24 18:36:01,946 - mmdet - INFO - Epoch [22][3320/3517]	lr: 1.951e-06, eta: 1:36:52, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1473, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2657, debug_std_frame_3: 0.3097, debug_std_frame_4: 0.3573, debug_std_frame_5: 0.4109, loss_rl: -0.3276, loss_critic: 1.2986, loss_rl_bc: -0.0000, il_score: 0.6852, rl_score: 0.6919, prev_frame_loss_waypoint_0: 0.1736, prev_frame_loss_rl_bc_0: 0.0200, loss: 1.3371, grad_norm: 50.3453, il_score_sum: 67.3069, rl_score_sum: 68.9311, score_diff: -1.6242, il_win: 76.0000, rl_win: 491.7500
2025-09-24 18:36:17,719 - mmdet - INFO - Epoch [22][3340/3517]	lr: 1.951e-06, eta: 1:36:36, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1655, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3756, debug_std_frame_5: 0.4282, loss_rl: -0.2218, loss_critic: 1.4833, loss_rl_bc: 0.0048, il_score: 0.6216, rl_score: 0.6339, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.6292, grad_norm: 41.6870, il_score_sum: 67.3069, rl_score_sum: 68.9311, score_diff: -1.6242, il_win: 76.0000, rl_win: 491.7500
2025-09-24 18:36:33,826 - mmdet - INFO - Epoch [22][3360/3517]	lr: 1.951e-06, eta: 1:36:20, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1507, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3654, debug_std_frame_5: 0.4210, loss_rl: -0.2694, loss_critic: 1.3213, loss_rl_bc: 0.0025, il_score: 0.6718, rl_score: 0.6791, prev_frame_loss_waypoint_0: 0.1582, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.3905, grad_norm: 42.2841, il_score_sum: 67.2175, rl_score_sum: 68.8230, score_diff: -1.6056, il_win: 76.0000, rl_win: 492.5500
2025-09-24 18:36:49,727 - mmdet - INFO - Epoch [22][3380/3517]	lr: 1.951e-06, eta: 1:36:04, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1542, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2778, debug_std_frame_3: 0.3305, debug_std_frame_4: 0.3842, debug_std_frame_5: 0.4417, loss_rl: -0.2704, loss_critic: 1.3099, loss_rl_bc: 0.0018, il_score: 0.6536, rl_score: 0.6791, prev_frame_loss_waypoint_0: 0.1713, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.3967, grad_norm: 37.7537, il_score_sum: 67.2175, rl_score_sum: 68.8230, score_diff: -1.6056, il_win: 76.0000, rl_win: 492.5500
2025-09-24 18:37:05,605 - mmdet - INFO - Epoch [22][3400/3517]	lr: 1.951e-06, eta: 1:35:47, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1687, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2739, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4355, loss_rl: -0.2710, loss_critic: 1.3601, loss_rl_bc: 0.0033, il_score: 0.6740, rl_score: 0.7027, prev_frame_loss_waypoint_0: 0.1965, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.4878, grad_norm: 42.0635, il_score_sum: 67.2175, rl_score_sum: 68.8230, score_diff: -1.6056, il_win: 76.0000, rl_win: 492.5500
2025-09-24 18:37:21,628 - mmdet - INFO - Epoch [22][3420/3517]	lr: 1.951e-06, eta: 1:35:31, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1675, debug_std_frame_0: 0.2040, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4295, loss_rl: -0.2750, loss_critic: 1.1320, loss_rl_bc: 0.0056, il_score: 0.6748, rl_score: 0.7034, prev_frame_loss_waypoint_0: 0.1759, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.2352, grad_norm: 39.9056, il_score_sum: 67.2175, rl_score_sum: 68.8230, score_diff: -1.6056, il_win: 76.0000, rl_win: 492.5500
2025-09-24 18:37:37,685 - mmdet - INFO - Epoch [22][3440/3517]	lr: 1.951e-06, eta: 1:35:15, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1619, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2666, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4200, loss_rl: -0.2636, loss_critic: 1.0445, loss_rl_bc: 0.0037, il_score: 0.6598, rl_score: 0.7064, prev_frame_loss_waypoint_0: 0.1731, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.1493, grad_norm: 28.8942, il_score_sum: 67.2175, rl_score_sum: 68.8230, score_diff: -1.6056, il_win: 76.0000, rl_win: 492.5500
2025-09-24 18:37:53,572 - mmdet - INFO - Epoch [22][3460/3517]	lr: 1.951e-06, eta: 1:34:59, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1490, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3197, debug_std_frame_4: 0.3681, debug_std_frame_5: 0.4208, loss_rl: -0.2922, loss_critic: 1.2580, loss_rl_bc: 0.0007, il_score: 0.6745, rl_score: 0.6802, prev_frame_loss_waypoint_0: 0.1602, prev_frame_loss_rl_bc_0: 0.0016, loss: 1.3026, grad_norm: 44.2998, il_score_sum: 67.2595, rl_score_sum: 68.8933, score_diff: -1.6338, il_win: 76.0000, rl_win: 493.3500
2025-09-24 18:38:09,766 - mmdet - INFO - Epoch [22][3480/3517]	lr: 1.951e-06, eta: 1:34:43, time: 0.810, data_time: 0.011, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1606, debug_std_frame_0: 0.2041, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3154, debug_std_frame_4: 0.3658, debug_std_frame_5: 0.4197, loss_rl: -0.2940, loss_critic: 1.3197, loss_rl_bc: 0.0033, il_score: 0.6651, rl_score: 0.6975, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.3949, grad_norm: 40.2889, il_score_sum: 67.2595, rl_score_sum: 68.8933, score_diff: -1.6338, il_win: 76.0000, rl_win: 493.3500
2025-09-24 18:38:25,701 - mmdet - INFO - Epoch [22][3500/3517]	lr: 1.951e-06, eta: 1:34:27, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1480, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3689, debug_std_frame_5: 0.4254, loss_rl: -0.2797, loss_critic: 1.4064, loss_rl_bc: 0.0001, il_score: 0.6646, rl_score: 0.6823, prev_frame_loss_waypoint_0: 0.1629, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.4630, grad_norm: 39.4785, il_score_sum: 67.2595, rl_score_sum: 68.8933, score_diff: -1.6338, il_win: 76.0000, rl_win: 493.3500
2025-09-24 18:38:38,850 - mmdet - INFO - Saving checkpoint at 22 epochs
2025-09-24 18:41:14,033 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 18:41:14,033 - mmdet - INFO - Epoch(val) [22][753]	plan_L2_1s: 0.2984, plan_L2_2s: 0.5989, plan_L2_3s: 1.0121, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0019, plan_obj_box_col_2s: 0.0020, plan_obj_box_col_3s: 0.0053, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.2920, plan_L2_2s_rl_actor: 0.5963, plan_L2_3s_rl_actor: 1.0158, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0086, plan_obj_box_col_2s_rl_actor: 0.0095, plan_obj_box_col_3s_rl_actor: 0.0123, fut_valid_flag_rl_actor: 1.0000
2025-09-24 18:41:38,197 - mmdet - INFO - Epoch [23][20/3517]	lr: 9.010e-07, eta: 1:33:57, time: 1.208, data_time: 0.346, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1569, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2188, debug_std_frame_2: 0.2624, debug_std_frame_3: 0.3084, debug_std_frame_4: 0.3554, debug_std_frame_5: 0.4096, loss_rl: -0.2827, loss_critic: 1.4243, loss_rl_bc: 0.0037, il_score: 0.6540, rl_score: 0.6844, prev_frame_loss_waypoint_0: 0.1562, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.4864, grad_norm: 42.7528
2025-09-24 18:41:54,792 - mmdet - INFO - Epoch [23][40/3517]	lr: 9.010e-07, eta: 1:33:41, time: 0.829, data_time: 0.015, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1712, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2772, debug_std_frame_3: 0.3301, debug_std_frame_4: 0.3808, debug_std_frame_5: 0.4357, loss_rl: -0.2880, loss_critic: 1.0609, loss_rl_bc: 0.0062, il_score: 0.6789, rl_score: 0.7038, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.1572, grad_norm: 35.8176, il_score_sum: 65.9502, rl_score_sum: 68.3448, score_diff: -2.3946, il_win: 76.0000, rl_win: 501.0000
2025-09-24 18:42:11,349 - mmdet - INFO - Epoch [23][60/3517]	lr: 9.010e-07, eta: 1:33:25, time: 0.828, data_time: 0.015, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1762, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3223, debug_std_frame_4: 0.3723, debug_std_frame_5: 0.4277, loss_rl: -0.2878, loss_critic: 1.0581, loss_rl_bc: 0.0076, il_score: 0.6682, rl_score: 0.7128, prev_frame_loss_waypoint_0: 0.1866, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.1748, grad_norm: 34.2838, il_score_sum: 65.9502, rl_score_sum: 68.3448, score_diff: -2.3946, il_win: 76.0000, rl_win: 501.0000
2025-09-24 18:42:27,881 - mmdet - INFO - Epoch [23][80/3517]	lr: 9.010e-07, eta: 1:33:09, time: 0.827, data_time: 0.016, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1598, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2665, debug_std_frame_3: 0.3141, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4203, loss_rl: -0.2438, loss_critic: 1.5541, loss_rl_bc: 0.0073, il_score: 0.6417, rl_score: 0.6577, prev_frame_loss_waypoint_0: 0.1574, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.6626, grad_norm: 33.8938, il_score_sum: 65.9502, rl_score_sum: 68.3448, score_diff: -2.3946, il_win: 76.0000, rl_win: 501.0000
2025-09-24 18:42:44,322 - mmdet - INFO - Epoch [23][100/3517]	lr: 9.010e-07, eta: 1:32:53, time: 0.822, data_time: 0.015, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1621, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2263, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4337, loss_rl: -0.2522, loss_critic: 1.3810, loss_rl_bc: 0.0065, il_score: 0.6394, rl_score: 0.6598, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0089, loss: 1.5152, grad_norm: 36.1121, il_score_sum: 65.9502, rl_score_sum: 68.3448, score_diff: -2.3946, il_win: 76.0000, rl_win: 501.0000
2025-09-24 18:43:00,472 - mmdet - INFO - Epoch [23][120/3517]	lr: 9.010e-07, eta: 1:32:37, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1614, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4336, loss_rl: -0.2521, loss_critic: 1.4577, loss_rl_bc: 0.0048, il_score: 0.6787, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1727, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.5754, grad_norm: 33.2953, il_score_sum: 65.9502, rl_score_sum: 68.3448, score_diff: -2.3946, il_win: 76.0000, rl_win: 501.0000
2025-09-24 18:43:17,069 - mmdet - INFO - Epoch [23][140/3517]	lr: 9.010e-07, eta: 1:32:21, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1551, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3192, debug_std_frame_4: 0.3727, debug_std_frame_5: 0.4310, loss_rl: -0.2948, loss_critic: 1.1732, loss_rl_bc: -0.0000, il_score: 0.6760, rl_score: 0.7151, prev_frame_loss_waypoint_0: 0.1740, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.2356, grad_norm: 45.8960, il_score_sum: 66.1144, rl_score_sum: 68.3180, score_diff: -2.2036, il_win: 76.0000, rl_win: 501.5000
2025-09-24 18:43:33,315 - mmdet - INFO - Epoch [23][160/3517]	lr: 9.010e-07, eta: 1:32:05, time: 0.812, data_time: 0.014, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1660, debug_std_frame_0: 0.2112, debug_std_frame_1: 0.2289, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3206, debug_std_frame_4: 0.3666, debug_std_frame_5: 0.4188, loss_rl: -0.2774, loss_critic: 1.2341, loss_rl_bc: 0.0094, il_score: 0.6844, rl_score: 0.6887, prev_frame_loss_waypoint_0: 0.1694, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.3315, grad_norm: 40.8850, il_score_sum: 66.1144, rl_score_sum: 68.3180, score_diff: -2.2036, il_win: 76.0000, rl_win: 501.5000
2025-09-24 18:43:49,569 - mmdet - INFO - Epoch [23][180/3517]	lr: 9.010e-07, eta: 1:31:48, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1625, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3249, debug_std_frame_4: 0.3739, debug_std_frame_5: 0.4288, loss_rl: -0.2831, loss_critic: 1.1365, loss_rl_bc: 0.0058, il_score: 0.6992, rl_score: 0.7174, prev_frame_loss_waypoint_0: 0.1876, prev_frame_loss_rl_bc_0: 0.0135, loss: 1.2473, grad_norm: 36.5417, il_score_sum: 66.1144, rl_score_sum: 68.3180, score_diff: -2.2036, il_win: 76.0000, rl_win: 501.5000
2025-09-24 18:44:05,691 - mmdet - INFO - Epoch [23][200/3517]	lr: 9.010e-07, eta: 1:31:32, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1668, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2730, debug_std_frame_3: 0.3245, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4339, loss_rl: -0.2749, loss_critic: 1.2794, loss_rl_bc: 0.0047, il_score: 0.6801, rl_score: 0.7025, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.3851, grad_norm: 31.0237, il_score_sum: 66.1144, rl_score_sum: 68.3180, score_diff: -2.2036, il_win: 76.0000, rl_win: 501.5000
2025-09-24 18:44:22,140 - mmdet - INFO - Epoch [23][220/3517]	lr: 9.010e-07, eta: 1:31:16, time: 0.822, data_time: 0.015, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1530, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3246, debug_std_frame_4: 0.3783, debug_std_frame_5: 0.4340, loss_rl: -0.2712, loss_critic: 1.4355, loss_rl_bc: 0.0038, il_score: 0.6578, rl_score: 0.6729, prev_frame_loss_waypoint_0: 0.1571, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.5059, grad_norm: 34.8817, il_score_sum: 66.1144, rl_score_sum: 68.3180, score_diff: -2.2036, il_win: 76.0000, rl_win: 501.5000
2025-09-24 18:44:38,538 - mmdet - INFO - Epoch [23][240/3517]	lr: 9.010e-07, eta: 1:31:00, time: 0.820, data_time: 0.015, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1543, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3723, debug_std_frame_5: 0.4294, loss_rl: -0.2407, loss_critic: 1.7076, loss_rl_bc: 0.0029, il_score: 0.6345, rl_score: 0.6266, prev_frame_loss_waypoint_0: 0.1634, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.8187, grad_norm: 39.8829, il_score_sum: 66.6833, rl_score_sum: 68.7100, score_diff: -2.0266, il_win: 76.0000, rl_win: 502.0000
2025-09-24 18:44:54,881 - mmdet - INFO - Epoch [23][260/3517]	lr: 9.010e-07, eta: 1:30:44, time: 0.817, data_time: 0.015, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1480, debug_std_frame_0: 0.2043, debug_std_frame_1: 0.2184, debug_std_frame_2: 0.2647, debug_std_frame_3: 0.3132, debug_std_frame_4: 0.3641, debug_std_frame_5: 0.4202, loss_rl: -0.2727, loss_critic: 1.2652, loss_rl_bc: 0.0011, il_score: 0.6853, rl_score: 0.7218, prev_frame_loss_waypoint_0: 0.1706, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.3413, grad_norm: 31.9444, il_score_sum: 66.6833, rl_score_sum: 68.7100, score_diff: -2.0266, il_win: 76.0000, rl_win: 502.0000
2025-09-24 18:45:11,400 - mmdet - INFO - Epoch [23][280/3517]	lr: 9.010e-07, eta: 1:30:28, time: 0.826, data_time: 0.014, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1579, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2241, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3743, debug_std_frame_5: 0.4360, loss_rl: -0.2645, loss_critic: 1.3881, loss_rl_bc: 0.0030, il_score: 0.6505, rl_score: 0.6916, prev_frame_loss_waypoint_0: 0.1702, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.4876, grad_norm: 40.2638, il_score_sum: 66.6833, rl_score_sum: 68.7100, score_diff: -2.0266, il_win: 76.0000, rl_win: 502.0000
2025-09-24 18:45:27,662 - mmdet - INFO - Epoch [23][300/3517]	lr: 9.010e-07, eta: 1:30:12, time: 0.813, data_time: 0.015, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1771, debug_std_frame_0: 0.2084, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2760, debug_std_frame_3: 0.3294, debug_std_frame_4: 0.3816, debug_std_frame_5: 0.4412, loss_rl: -0.2275, loss_critic: 1.3772, loss_rl_bc: 0.0118, il_score: 0.6411, rl_score: 0.6680, prev_frame_loss_waypoint_0: 0.1808, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.5531, grad_norm: 42.3515, il_score_sum: 66.6833, rl_score_sum: 68.7100, score_diff: -2.0266, il_win: 76.0000, rl_win: 502.0000
2025-09-24 18:45:43,970 - mmdet - INFO - Epoch [23][320/3517]	lr: 9.010e-07, eta: 1:29:56, time: 0.816, data_time: 0.015, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1456, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3662, debug_std_frame_5: 0.4227, loss_rl: -0.3026, loss_critic: 1.1899, loss_rl_bc: 0.0022, il_score: 0.6540, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.1709, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.2361, grad_norm: 32.3453, il_score_sum: 66.6833, rl_score_sum: 68.7100, score_diff: -2.0266, il_win: 76.0000, rl_win: 502.0000
2025-09-24 18:46:00,294 - mmdet - INFO - Epoch [23][340/3517]	lr: 9.010e-07, eta: 1:29:40, time: 0.816, data_time: 0.015, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1579, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3797, debug_std_frame_5: 0.4401, loss_rl: -0.2576, loss_critic: 1.6409, loss_rl_bc: 0.0050, il_score: 0.6660, rl_score: 0.6610, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.7488, grad_norm: 33.4034, il_score_sum: 66.4015, rl_score_sum: 68.6272, score_diff: -2.2256, il_win: 76.0000, rl_win: 502.5000
2025-09-24 18:46:16,465 - mmdet - INFO - Epoch [23][360/3517]	lr: 9.010e-07, eta: 1:29:24, time: 0.809, data_time: 0.015, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1531, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3721, debug_std_frame_5: 0.4272, loss_rl: -0.2713, loss_critic: 1.2909, loss_rl_bc: -0.0002, il_score: 0.7001, rl_score: 0.6969, prev_frame_loss_waypoint_0: 0.1590, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.3583, grad_norm: 39.5815, il_score_sum: 66.4015, rl_score_sum: 68.6272, score_diff: -2.2256, il_win: 76.0000, rl_win: 502.5000
2025-09-24 18:46:32,803 - mmdet - INFO - Epoch [23][380/3517]	lr: 9.010e-07, eta: 1:29:08, time: 0.817, data_time: 0.015, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1587, debug_std_frame_0: 0.2096, debug_std_frame_1: 0.2272, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4282, loss_rl: -0.2628, loss_critic: 1.1794, loss_rl_bc: 0.0041, il_score: 0.6917, rl_score: 0.7094, prev_frame_loss_waypoint_0: 0.1666, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.2765, grad_norm: 36.3200, il_score_sum: 66.4015, rl_score_sum: 68.6272, score_diff: -2.2256, il_win: 76.0000, rl_win: 502.5000
2025-09-24 18:46:49,092 - mmdet - INFO - Epoch [23][400/3517]	lr: 9.010e-07, eta: 1:28:52, time: 0.815, data_time: 0.015, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1660, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3204, debug_std_frame_4: 0.3718, debug_std_frame_5: 0.4272, loss_rl: -0.2786, loss_critic: 1.3440, loss_rl_bc: 0.0066, il_score: 0.6848, rl_score: 0.6993, prev_frame_loss_waypoint_0: 0.1784, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.4457, grad_norm: 34.7443, il_score_sum: 66.4015, rl_score_sum: 68.6272, score_diff: -2.2256, il_win: 76.0000, rl_win: 502.5000
2025-09-24 18:47:05,236 - mmdet - INFO - Epoch [23][420/3517]	lr: 9.010e-07, eta: 1:28:36, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1551, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3194, debug_std_frame_4: 0.3718, debug_std_frame_5: 0.4272, loss_rl: -0.2615, loss_critic: 1.1882, loss_rl_bc: 0.0013, il_score: 0.7003, rl_score: 0.7008, prev_frame_loss_waypoint_0: 0.1738, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.2860, grad_norm: 42.6561, il_score_sum: 66.4015, rl_score_sum: 68.6272, score_diff: -2.2256, il_win: 76.0000, rl_win: 502.5000
2025-09-24 18:47:21,652 - mmdet - INFO - Epoch [23][440/3517]	lr: 9.010e-07, eta: 1:28:20, time: 0.821, data_time: 0.014, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1879, debug_std_frame_0: 0.2094, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3745, debug_std_frame_5: 0.4307, loss_rl: -0.2374, loss_critic: 1.1028, loss_rl_bc: 0.0091, il_score: 0.6635, rl_score: 0.6885, prev_frame_loss_waypoint_0: 0.2019, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.3015, grad_norm: 41.3736, il_score_sum: 66.8794, rl_score_sum: 68.7427, score_diff: -1.8633, il_win: 76.0000, rl_win: 502.8000
2025-09-24 18:47:38,041 - mmdet - INFO - Epoch [23][460/3517]	lr: 9.010e-07, eta: 1:28:04, time: 0.820, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1562, debug_std_frame_0: 0.2031, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2672, debug_std_frame_3: 0.3196, debug_std_frame_4: 0.3741, debug_std_frame_5: 0.4309, loss_rl: -0.2387, loss_critic: 1.0926, loss_rl_bc: 0.0012, il_score: 0.6465, rl_score: 0.6844, prev_frame_loss_waypoint_0: 0.1677, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.2080, grad_norm: 43.8322, il_score_sum: 66.8794, rl_score_sum: 68.7427, score_diff: -1.8633, il_win: 76.0000, rl_win: 502.8000
2025-09-24 18:47:54,144 - mmdet - INFO - Epoch [23][480/3517]	lr: 9.010e-07, eta: 1:27:48, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1407, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2646, debug_std_frame_3: 0.3126, debug_std_frame_4: 0.3608, debug_std_frame_5: 0.4145, loss_rl: -0.2652, loss_critic: 1.2251, loss_rl_bc: -0.0011, il_score: 0.7107, rl_score: 0.7180, prev_frame_loss_waypoint_0: 0.1452, prev_frame_loss_rl_bc_0: -0.0019, loss: 1.2681, grad_norm: 28.0301, il_score_sum: 66.8794, rl_score_sum: 68.7427, score_diff: -1.8633, il_win: 76.0000, rl_win: 502.8000
2025-09-24 18:48:10,490 - mmdet - INFO - Epoch [23][500/3517]	lr: 9.010e-07, eta: 1:27:32, time: 0.817, data_time: 0.015, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1683, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3286, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4427, loss_rl: -0.2974, loss_critic: 1.2541, loss_rl_bc: 0.0041, il_score: 0.6681, rl_score: 0.6921, prev_frame_loss_waypoint_0: 0.1790, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.3370, grad_norm: 40.8014, il_score_sum: 66.8794, rl_score_sum: 68.7427, score_diff: -1.8633, il_win: 76.0000, rl_win: 502.8000
2025-09-24 18:48:26,593 - mmdet - INFO - Epoch [23][520/3517]	lr: 9.010e-07, eta: 1:27:15, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1465, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3156, debug_std_frame_4: 0.3646, debug_std_frame_5: 0.4191, loss_rl: -0.3224, loss_critic: 1.6137, loss_rl_bc: 0.0010, il_score: 0.6936, rl_score: 0.6925, prev_frame_loss_waypoint_0: 0.1754, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.6437, grad_norm: 41.7637, il_score_sum: 66.8794, rl_score_sum: 68.7427, score_diff: -1.8633, il_win: 76.0000, rl_win: 502.8000
2025-09-24 18:48:42,806 - mmdet - INFO - Epoch [23][540/3517]	lr: 9.010e-07, eta: 1:26:59, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1566, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3723, debug_std_frame_5: 0.4322, loss_rl: -0.2583, loss_critic: 1.6137, loss_rl_bc: 0.0041, il_score: 0.6457, rl_score: 0.6590, prev_frame_loss_waypoint_0: 0.1665, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.7109, grad_norm: 39.4612, il_score_sum: 66.9354, rl_score_sum: 68.8272, score_diff: -1.8918, il_win: 76.0000, rl_win: 503.1667
2025-09-24 18:48:58,866 - mmdet - INFO - Epoch [23][560/3517]	lr: 9.010e-07, eta: 1:26:43, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1692, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4309, loss_rl: -0.2680, loss_critic: 1.3926, loss_rl_bc: 0.0086, il_score: 0.6750, rl_score: 0.6693, prev_frame_loss_waypoint_0: 0.1705, prev_frame_loss_rl_bc_0: 0.0272, loss: 1.5260, grad_norm: 35.6567, il_score_sum: 66.9354, rl_score_sum: 68.8272, score_diff: -1.8918, il_win: 76.0000, rl_win: 503.1667
2025-09-24 18:49:15,126 - mmdet - INFO - Epoch [23][580/3517]	lr: 9.010e-07, eta: 1:26:27, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1644, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3731, debug_std_frame_5: 0.4325, loss_rl: -0.2309, loss_critic: 1.2589, loss_rl_bc: 0.0053, il_score: 0.6794, rl_score: 0.6757, prev_frame_loss_waypoint_0: 0.1966, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4277, grad_norm: 41.9607, il_score_sum: 66.9354, rl_score_sum: 68.8272, score_diff: -1.8918, il_win: 76.0000, rl_win: 503.1667
2025-09-24 18:49:31,459 - mmdet - INFO - Epoch [23][600/3517]	lr: 9.010e-07, eta: 1:26:11, time: 0.816, data_time: 0.015, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1581, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3155, debug_std_frame_4: 0.3651, debug_std_frame_5: 0.4220, loss_rl: -0.3037, loss_critic: 1.1084, loss_rl_bc: 0.0017, il_score: 0.6507, rl_score: 0.6988, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.1682, grad_norm: 41.1652, il_score_sum: 66.9354, rl_score_sum: 68.8272, score_diff: -1.8918, il_win: 76.0000, rl_win: 503.1667
2025-09-24 18:49:47,903 - mmdet - INFO - Epoch [23][620/3517]	lr: 9.010e-07, eta: 1:25:55, time: 0.823, data_time: 0.015, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1614, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3679, debug_std_frame_5: 0.4233, loss_rl: -0.2292, loss_critic: 1.3570, loss_rl_bc: 0.0057, il_score: 0.6769, rl_score: 0.6896, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4993, grad_norm: 30.1669, il_score_sum: 66.9354, rl_score_sum: 68.8272, score_diff: -1.8918, il_win: 76.0000, rl_win: 503.1667
2025-09-24 18:50:04,324 - mmdet - INFO - Epoch [23][640/3517]	lr: 9.010e-07, eta: 1:25:39, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1368, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2210, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3657, debug_std_frame_5: 0.4239, loss_rl: -0.3067, loss_critic: 1.4736, loss_rl_bc: -0.0003, il_score: 0.7222, rl_score: 0.7176, prev_frame_loss_waypoint_0: 0.1647, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.4977, grad_norm: 37.5532, il_score_sum: 66.9320, rl_score_sum: 68.7143, score_diff: -1.7823, il_win: 76.0000, rl_win: 503.5714
2025-09-24 18:50:20,334 - mmdet - INFO - Epoch [23][660/3517]	lr: 9.010e-07, eta: 1:25:23, time: 0.800, data_time: 0.015, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1811, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2265, debug_std_frame_2: 0.2785, debug_std_frame_3: 0.3309, debug_std_frame_4: 0.3827, debug_std_frame_5: 0.4398, loss_rl: -0.2788, loss_critic: 1.2391, loss_rl_bc: 0.0071, il_score: 0.6585, rl_score: 0.6716, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.3551, grad_norm: 43.5345, il_score_sum: 66.9320, rl_score_sum: 68.7143, score_diff: -1.7823, il_win: 76.0000, rl_win: 503.5714
2025-09-24 18:50:36,435 - mmdet - INFO - Epoch [23][680/3517]	lr: 9.010e-07, eta: 1:25:07, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1758, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4284, loss_rl: -0.2784, loss_critic: 1.3971, loss_rl_bc: 0.0075, il_score: 0.6697, rl_score: 0.6682, prev_frame_loss_waypoint_0: 0.1857, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.5219, grad_norm: 40.4875, il_score_sum: 66.9320, rl_score_sum: 68.7143, score_diff: -1.7823, il_win: 76.0000, rl_win: 503.5714
2025-09-24 18:50:52,507 - mmdet - INFO - Epoch [23][700/3517]	lr: 9.010e-07, eta: 1:24:51, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1451, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2210, debug_std_frame_2: 0.2701, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4290, loss_rl: -0.2733, loss_critic: 1.3562, loss_rl_bc: -0.0016, il_score: 0.6882, rl_score: 0.6958, prev_frame_loss_waypoint_0: 0.1671, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4265, grad_norm: 33.9378, il_score_sum: 66.9320, rl_score_sum: 68.7143, score_diff: -1.7823, il_win: 76.0000, rl_win: 503.5714
2025-09-24 18:51:08,650 - mmdet - INFO - Epoch [23][720/3517]	lr: 9.010e-07, eta: 1:24:35, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1580, debug_std_frame_0: 0.2031, debug_std_frame_1: 0.2183, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3128, debug_std_frame_4: 0.3597, debug_std_frame_5: 0.4107, loss_rl: -0.3220, loss_critic: 1.2567, loss_rl_bc: 0.0021, il_score: 0.7121, rl_score: 0.7239, prev_frame_loss_waypoint_0: 0.1754, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.2986, grad_norm: 37.7524, il_score_sum: 66.9320, rl_score_sum: 68.7143, score_diff: -1.7823, il_win: 76.0000, rl_win: 503.5714
2025-09-24 18:51:24,668 - mmdet - INFO - Epoch [23][740/3517]	lr: 9.010e-07, eta: 1:24:19, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1488, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3713, debug_std_frame_5: 0.4248, loss_rl: -0.2689, loss_critic: 1.2747, loss_rl_bc: -0.0010, il_score: 0.6782, rl_score: 0.7117, prev_frame_loss_waypoint_0: 0.1661, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.3464, grad_norm: 37.5379, il_score_sum: 67.1995, rl_score_sum: 68.8456, score_diff: -1.6461, il_win: 76.0000, rl_win: 503.8750
2025-09-24 18:51:40,531 - mmdet - INFO - Epoch [23][760/3517]	lr: 9.010e-07, eta: 1:24:03, time: 0.793, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1736, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2728, debug_std_frame_3: 0.3266, debug_std_frame_4: 0.3807, debug_std_frame_5: 0.4414, loss_rl: -0.2716, loss_critic: 1.3476, loss_rl_bc: 0.0058, il_score: 0.6521, rl_score: 0.6989, prev_frame_loss_waypoint_0: 0.1871, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.4751, grad_norm: 34.3072, il_score_sum: 67.1995, rl_score_sum: 68.8456, score_diff: -1.6461, il_win: 76.0000, rl_win: 503.8750
2025-09-24 18:51:56,632 - mmdet - INFO - Epoch [23][780/3517]	lr: 9.010e-07, eta: 1:23:47, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1674, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3676, debug_std_frame_5: 0.4233, loss_rl: -0.2776, loss_critic: 1.2795, loss_rl_bc: 0.0046, il_score: 0.6949, rl_score: 0.7076, prev_frame_loss_waypoint_0: 0.1791, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.3849, grad_norm: 37.3837, il_score_sum: 67.1995, rl_score_sum: 68.8456, score_diff: -1.6461, il_win: 76.0000, rl_win: 503.8750
2025-09-24 18:52:12,527 - mmdet - INFO - Epoch [23][800/3517]	lr: 9.010e-07, eta: 1:23:30, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1546, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2731, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3785, debug_std_frame_5: 0.4379, loss_rl: -0.2565, loss_critic: 1.4779, loss_rl_bc: 0.0040, il_score: 0.6719, rl_score: 0.6781, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5924, grad_norm: 37.6097, il_score_sum: 67.1995, rl_score_sum: 68.8456, score_diff: -1.6461, il_win: 76.0000, rl_win: 503.8750
2025-09-24 18:52:28,426 - mmdet - INFO - Epoch [23][820/3517]	lr: 9.010e-07, eta: 1:23:14, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0241, loss_waypoint: 0.1534, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3229, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4379, loss_rl: -0.2692, loss_critic: 1.1702, loss_rl_bc: 0.0014, il_score: 0.6953, rl_score: 0.7093, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.2573, grad_norm: 53.9732, il_score_sum: 67.1995, rl_score_sum: 68.8456, score_diff: -1.6461, il_win: 76.0000, rl_win: 503.8750
2025-09-24 18:52:44,362 - mmdet - INFO - Epoch [23][840/3517]	lr: 9.010e-07, eta: 1:22:58, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0277, loss_waypoint: 0.1550, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3156, debug_std_frame_4: 0.3643, debug_std_frame_5: 0.4171, loss_rl: -0.2862, loss_critic: 1.1876, loss_rl_bc: 0.0032, il_score: 0.6816, rl_score: 0.6977, prev_frame_loss_waypoint_0: 0.1711, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.2629, grad_norm: 32.1677, il_score_sum: 67.2705, rl_score_sum: 68.9764, score_diff: -1.7059, il_win: 76.0000, rl_win: 504.2222
2025-09-24 18:53:00,413 - mmdet - INFO - Epoch [23][860/3517]	lr: 9.010e-07, eta: 1:22:42, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1649, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3225, debug_std_frame_4: 0.3731, debug_std_frame_5: 0.4261, loss_rl: -0.2979, loss_critic: 1.3745, loss_rl_bc: 0.0067, il_score: 0.6711, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.1789, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.4609, grad_norm: 32.9102, il_score_sum: 67.2705, rl_score_sum: 68.9764, score_diff: -1.7059, il_win: 76.0000, rl_win: 504.2222
2025-09-24 18:53:16,328 - mmdet - INFO - Epoch [23][880/3517]	lr: 9.010e-07, eta: 1:22:26, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1750, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3206, debug_std_frame_4: 0.3732, debug_std_frame_5: 0.4312, loss_rl: -0.2719, loss_critic: 1.2106, loss_rl_bc: 0.0072, il_score: 0.6259, rl_score: 0.6785, prev_frame_loss_waypoint_0: 0.1765, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.3295, grad_norm: 38.6302, il_score_sum: 67.2705, rl_score_sum: 68.9764, score_diff: -1.7059, il_win: 76.0000, rl_win: 504.2222
2025-09-24 18:53:32,228 - mmdet - INFO - Epoch [23][900/3517]	lr: 9.010e-07, eta: 1:22:10, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1477, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3153, debug_std_frame_4: 0.3642, debug_std_frame_5: 0.4177, loss_rl: -0.2979, loss_critic: 1.4979, loss_rl_bc: 0.0027, il_score: 0.6898, rl_score: 0.6869, prev_frame_loss_waypoint_0: 0.1624, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.5420, grad_norm: 34.3685, il_score_sum: 67.2705, rl_score_sum: 68.9764, score_diff: -1.7059, il_win: 76.0000, rl_win: 504.2222
2025-09-24 18:53:47,925 - mmdet - INFO - Epoch [23][920/3517]	lr: 9.010e-07, eta: 1:21:54, time: 0.785, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1733, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2244, debug_std_frame_2: 0.2761, debug_std_frame_3: 0.3294, debug_std_frame_4: 0.3832, debug_std_frame_5: 0.4469, loss_rl: -0.2780, loss_critic: 1.2578, loss_rl_bc: 0.0067, il_score: 0.6725, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1789, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.3677, grad_norm: 37.8786, il_score_sum: 67.2705, rl_score_sum: 68.9764, score_diff: -1.7059, il_win: 76.0000, rl_win: 504.2222
2025-09-24 18:54:04,092 - mmdet - INFO - Epoch [23][940/3517]	lr: 9.010e-07, eta: 1:21:38, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0274, loss_waypoint: 0.1440, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3194, debug_std_frame_4: 0.3709, debug_std_frame_5: 0.4248, loss_rl: -0.2930, loss_critic: 1.8540, loss_rl_bc: 0.0008, il_score: 0.6586, rl_score: 0.6694, prev_frame_loss_waypoint_0: 0.1652, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.9011, grad_norm: 38.1139, il_score_sum: 67.1954, rl_score_sum: 68.9274, score_diff: -1.7321, il_win: 76.0000, rl_win: 504.6000
2025-09-24 18:54:20,192 - mmdet - INFO - Epoch [23][960/3517]	lr: 9.010e-07, eta: 1:21:22, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1831, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3181, debug_std_frame_4: 0.3692, debug_std_frame_5: 0.4248, loss_rl: -0.2785, loss_critic: 1.1927, loss_rl_bc: 0.0107, il_score: 0.6685, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1736, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.3133, grad_norm: 34.0297, il_score_sum: 67.1954, rl_score_sum: 68.9274, score_diff: -1.7321, il_win: 76.0000, rl_win: 504.6000
2025-09-24 18:54:36,196 - mmdet - INFO - Epoch [23][980/3517]	lr: 9.010e-07, eta: 1:21:06, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1518, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3205, debug_std_frame_4: 0.3711, debug_std_frame_5: 0.4234, loss_rl: -0.3164, loss_critic: 1.4235, loss_rl_bc: 0.0042, il_score: 0.6844, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1690, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.4615, grad_norm: 40.5227, il_score_sum: 67.1954, rl_score_sum: 68.9274, score_diff: -1.7321, il_win: 76.0000, rl_win: 504.6000
2025-09-24 18:54:52,134 - mmdet - INFO - Epoch [23][1000/3517]	lr: 9.010e-07, eta: 1:20:50, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1410, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3762, debug_std_frame_5: 0.4350, loss_rl: -0.2580, loss_critic: 1.3504, loss_rl_bc: 0.0008, il_score: 0.6571, rl_score: 0.6905, prev_frame_loss_waypoint_0: 0.1797, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.4462, grad_norm: 39.5414, il_score_sum: 67.1954, rl_score_sum: 68.9274, score_diff: -1.7321, il_win: 76.0000, rl_win: 504.6000
2025-09-24 18:55:08,207 - mmdet - INFO - Epoch [23][1020/3517]	lr: 9.010e-07, eta: 1:20:34, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1362, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2718, debug_std_frame_3: 0.3198, debug_std_frame_4: 0.3688, debug_std_frame_5: 0.4245, loss_rl: -0.3062, loss_critic: 1.3920, loss_rl_bc: -0.0008, il_score: 0.6500, rl_score: 0.6915, prev_frame_loss_waypoint_0: 0.1572, prev_frame_loss_rl_bc_0: -0.0000, loss: 1.4047, grad_norm: 31.3793, il_score_sum: 67.1954, rl_score_sum: 68.9274, score_diff: -1.7321, il_win: 76.0000, rl_win: 504.6000
2025-09-24 18:55:24,340 - mmdet - INFO - Epoch [23][1040/3517]	lr: 9.010e-07, eta: 1:20:17, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1485, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3132, debug_std_frame_4: 0.3604, debug_std_frame_5: 0.4105, loss_rl: -0.2870, loss_critic: 1.4243, loss_rl_bc: 0.0008, il_score: 0.6656, rl_score: 0.6870, prev_frame_loss_waypoint_0: 0.1465, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.4596, grad_norm: 40.1201, il_score_sum: 67.1600, rl_score_sum: 68.9281, score_diff: -1.7681, il_win: 76.0000, rl_win: 505.0000
2025-09-24 18:55:40,133 - mmdet - INFO - Epoch [23][1060/3517]	lr: 9.010e-07, eta: 1:20:01, time: 0.790, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1851, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2192, debug_std_frame_2: 0.2664, debug_std_frame_3: 0.3169, debug_std_frame_4: 0.3672, debug_std_frame_5: 0.4222, loss_rl: -0.2825, loss_critic: 1.5210, loss_rl_bc: 0.0223, il_score: 0.6648, rl_score: 0.6686, prev_frame_loss_waypoint_0: 0.1935, prev_frame_loss_rl_bc_0: 0.0238, loss: 1.6888, grad_norm: 32.6933, il_score_sum: 67.1600, rl_score_sum: 68.9281, score_diff: -1.7681, il_win: 76.0000, rl_win: 505.0000
2025-09-24 18:55:56,028 - mmdet - INFO - Epoch [23][1080/3517]	lr: 9.010e-07, eta: 1:19:45, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1550, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2748, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3790, debug_std_frame_5: 0.4375, loss_rl: -0.2177, loss_critic: 1.7294, loss_rl_bc: 0.0051, il_score: 0.6189, rl_score: 0.6118, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.8828, grad_norm: 32.9290, il_score_sum: 67.1600, rl_score_sum: 68.9281, score_diff: -1.7681, il_win: 76.0000, rl_win: 505.0000
2025-09-24 18:56:12,013 - mmdet - INFO - Epoch [23][1100/3517]	lr: 9.010e-07, eta: 1:19:29, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1398, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3154, debug_std_frame_4: 0.3652, debug_std_frame_5: 0.4184, loss_rl: -0.2679, loss_critic: 1.7354, loss_rl_bc: 0.0004, il_score: 0.6330, rl_score: 0.6312, prev_frame_loss_waypoint_0: 0.1394, prev_frame_loss_rl_bc_0: -0.0009, loss: 1.7714, grad_norm: 39.1792, il_score_sum: 67.1600, rl_score_sum: 68.9281, score_diff: -1.7681, il_win: 76.0000, rl_win: 505.0000
2025-09-24 18:56:27,828 - mmdet - INFO - Epoch [23][1120/3517]	lr: 9.010e-07, eta: 1:19:13, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1380, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2195, debug_std_frame_2: 0.2634, debug_std_frame_3: 0.3092, debug_std_frame_4: 0.3561, debug_std_frame_5: 0.4058, loss_rl: -0.2793, loss_critic: 1.4985, loss_rl_bc: -0.0019, il_score: 0.6859, rl_score: 0.6926, prev_frame_loss_waypoint_0: 0.1559, prev_frame_loss_rl_bc_0: 0.0011, loss: 1.5376, grad_norm: 38.4935, il_score_sum: 67.1600, rl_score_sum: 68.9281, score_diff: -1.7681, il_win: 76.0000, rl_win: 505.0000
2025-09-24 18:56:43,768 - mmdet - INFO - Epoch [23][1140/3517]	lr: 9.010e-07, eta: 1:18:57, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1712, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2251, debug_std_frame_2: 0.2754, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3747, debug_std_frame_5: 0.4288, loss_rl: -0.2500, loss_critic: 1.1736, loss_rl_bc: 0.0019, il_score: 0.6907, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1767, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.3044, grad_norm: 36.6500, il_score_sum: 67.0025, rl_score_sum: 68.6464, score_diff: -1.6440, il_win: 76.0000, rl_win: 505.3333
2025-09-24 18:56:59,592 - mmdet - INFO - Epoch [23][1160/3517]	lr: 9.010e-07, eta: 1:18:41, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0270, loss_waypoint: 0.1725, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3201, debug_std_frame_4: 0.3724, debug_std_frame_5: 0.4298, loss_rl: -0.2643, loss_critic: 1.5471, loss_rl_bc: 0.0062, il_score: 0.6569, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.1867, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.6813, grad_norm: 39.9124, il_score_sum: 67.0025, rl_score_sum: 68.6464, score_diff: -1.6440, il_win: 76.0000, rl_win: 505.3333
2025-09-24 18:57:15,606 - mmdet - INFO - Epoch [23][1180/3517]	lr: 9.010e-07, eta: 1:18:25, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1444, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3209, debug_std_frame_4: 0.3719, debug_std_frame_5: 0.4239, loss_rl: -0.2825, loss_critic: 1.2794, loss_rl_bc: -0.0004, il_score: 0.6899, rl_score: 0.7041, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.3449, grad_norm: 33.9153, il_score_sum: 67.0025, rl_score_sum: 68.6464, score_diff: -1.6440, il_win: 76.0000, rl_win: 505.3333
2025-09-24 18:57:31,455 - mmdet - INFO - Epoch [23][1200/3517]	lr: 9.010e-07, eta: 1:18:09, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1602, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2768, debug_std_frame_3: 0.3286, debug_std_frame_4: 0.3837, debug_std_frame_5: 0.4386, loss_rl: -0.2133, loss_critic: 1.2195, loss_rl_bc: 0.0059, il_score: 0.6659, rl_score: 0.6632, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.3739, grad_norm: 36.6972, il_score_sum: 67.0025, rl_score_sum: 68.6464, score_diff: -1.6440, il_win: 76.0000, rl_win: 505.3333
2025-09-24 18:57:47,292 - mmdet - INFO - Epoch [23][1220/3517]	lr: 9.010e-07, eta: 1:17:53, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1553, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3184, debug_std_frame_4: 0.3690, debug_std_frame_5: 0.4225, loss_rl: -0.2437, loss_critic: 1.4561, loss_rl_bc: 0.0020, il_score: 0.6714, rl_score: 0.6828, prev_frame_loss_waypoint_0: 0.1711, prev_frame_loss_rl_bc_0: 0.0023, loss: 1.5689, grad_norm: 33.9851, il_score_sum: 67.0025, rl_score_sum: 68.6464, score_diff: -1.6440, il_win: 76.0000, rl_win: 505.3333
2025-09-24 18:58:03,293 - mmdet - INFO - Epoch [23][1240/3517]	lr: 9.010e-07, eta: 1:17:37, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1649, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2718, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4280, loss_rl: -0.2680, loss_critic: 1.4412, loss_rl_bc: 0.0047, il_score: 0.6458, rl_score: 0.6736, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5553, grad_norm: 36.2064, il_score_sum: 67.0192, rl_score_sum: 68.6092, score_diff: -1.5899, il_win: 76.0000, rl_win: 505.6154
2025-09-24 18:58:19,542 - mmdet - INFO - Epoch [23][1260/3517]	lr: 9.010e-07, eta: 1:17:21, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1462, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2638, debug_std_frame_3: 0.3094, debug_std_frame_4: 0.3523, debug_std_frame_5: 0.4051, loss_rl: -0.3085, loss_critic: 1.4977, loss_rl_bc: 0.0005, il_score: 0.6744, rl_score: 0.6764, prev_frame_loss_waypoint_0: 0.1523, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.5140, grad_norm: 37.3705, il_score_sum: 67.0192, rl_score_sum: 68.6092, score_diff: -1.5899, il_win: 76.0000, rl_win: 505.6154
2025-09-24 18:58:35,643 - mmdet - INFO - Epoch [23][1280/3517]	lr: 9.010e-07, eta: 1:17:04, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1654, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3177, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4263, loss_rl: -0.2738, loss_critic: 1.5889, loss_rl_bc: 0.0056, il_score: 0.6811, rl_score: 0.6897, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.6952, grad_norm: 39.9717, il_score_sum: 67.0192, rl_score_sum: 68.6092, score_diff: -1.5899, il_win: 76.0000, rl_win: 505.6154
2025-09-24 18:58:51,628 - mmdet - INFO - Epoch [23][1300/3517]	lr: 9.010e-07, eta: 1:16:48, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1730, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3210, debug_std_frame_4: 0.3725, debug_std_frame_5: 0.4286, loss_rl: -0.2455, loss_critic: 1.5115, loss_rl_bc: 0.0064, il_score: 0.6510, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.1697, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.6428, grad_norm: 38.5915, il_score_sum: 67.0192, rl_score_sum: 68.6092, score_diff: -1.5899, il_win: 76.0000, rl_win: 505.6154
2025-09-24 18:59:07,490 - mmdet - INFO - Epoch [23][1320/3517]	lr: 9.010e-07, eta: 1:16:32, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1498, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2192, debug_std_frame_2: 0.2657, debug_std_frame_3: 0.3136, debug_std_frame_4: 0.3616, debug_std_frame_5: 0.4163, loss_rl: -0.2624, loss_critic: 1.0885, loss_rl_bc: 0.0020, il_score: 0.6869, rl_score: 0.7007, prev_frame_loss_waypoint_0: 0.1674, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.1740, grad_norm: 42.6190, il_score_sum: 67.0192, rl_score_sum: 68.6092, score_diff: -1.5899, il_win: 76.0000, rl_win: 505.6154
2025-09-24 18:59:23,566 - mmdet - INFO - Epoch [23][1340/3517]	lr: 9.010e-07, eta: 1:16:16, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0280, loss_waypoint: 0.1633, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3248, debug_std_frame_4: 0.3791, debug_std_frame_5: 0.4369, loss_rl: -0.2810, loss_critic: 1.3464, loss_rl_bc: 0.0032, il_score: 0.6809, rl_score: 0.7091, prev_frame_loss_waypoint_0: 0.1818, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4469, grad_norm: 33.8827, il_score_sum: 67.0214, rl_score_sum: 68.6039, score_diff: -1.5825, il_win: 76.0000, rl_win: 505.9286
2025-09-24 18:59:39,688 - mmdet - INFO - Epoch [23][1360/3517]	lr: 9.010e-07, eta: 1:16:00, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1674, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3708, debug_std_frame_5: 0.4283, loss_rl: -0.2488, loss_critic: 1.3193, loss_rl_bc: 0.0069, il_score: 0.6520, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4504, grad_norm: 36.5755, il_score_sum: 67.0214, rl_score_sum: 68.6039, score_diff: -1.5825, il_win: 76.0000, rl_win: 505.9286
2025-09-24 18:59:55,712 - mmdet - INFO - Epoch [23][1380/3517]	lr: 9.010e-07, eta: 1:15:44, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0273, loss_waypoint: 0.1665, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3187, debug_std_frame_4: 0.3687, debug_std_frame_5: 0.4242, loss_rl: -0.2567, loss_critic: 1.4207, loss_rl_bc: 0.0048, il_score: 0.6739, rl_score: 0.6944, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.5498, grad_norm: 32.7457, il_score_sum: 67.0214, rl_score_sum: 68.6039, score_diff: -1.5825, il_win: 76.0000, rl_win: 505.9286
2025-09-24 19:00:11,782 - mmdet - INFO - Epoch [23][1400/3517]	lr: 9.010e-07, eta: 1:15:28, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1642, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2651, debug_std_frame_3: 0.3114, debug_std_frame_4: 0.3598, debug_std_frame_5: 0.4162, loss_rl: -0.3082, loss_critic: 1.5089, loss_rl_bc: 0.0086, il_score: 0.6486, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.1737, prev_frame_loss_rl_bc_0: 0.0073, loss: 1.5797, grad_norm: 41.6339, il_score_sum: 67.0214, rl_score_sum: 68.6039, score_diff: -1.5825, il_win: 76.0000, rl_win: 505.9286
2025-09-24 19:00:27,779 - mmdet - INFO - Epoch [23][1420/3517]	lr: 9.010e-07, eta: 1:15:12, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1488, debug_std_frame_0: 0.2039, debug_std_frame_1: 0.2169, debug_std_frame_2: 0.2613, debug_std_frame_3: 0.3099, debug_std_frame_4: 0.3589, debug_std_frame_5: 0.4117, loss_rl: -0.2774, loss_critic: 1.2443, loss_rl_bc: 0.0012, il_score: 0.6734, rl_score: 0.7085, prev_frame_loss_waypoint_0: 0.1566, prev_frame_loss_rl_bc_0: 0.0002, loss: 1.2988, grad_norm: 36.4906, il_score_sum: 67.0214, rl_score_sum: 68.6039, score_diff: -1.5825, il_win: 76.0000, rl_win: 505.9286
2025-09-24 19:00:43,864 - mmdet - INFO - Epoch [23][1440/3517]	lr: 9.010e-07, eta: 1:14:56, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1537, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2735, debug_std_frame_3: 0.3247, debug_std_frame_4: 0.3748, debug_std_frame_5: 0.4301, loss_rl: -0.3064, loss_critic: 1.2115, loss_rl_bc: 0.0033, il_score: 0.7006, rl_score: 0.7232, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.2574, grad_norm: 46.3550, il_score_sum: 67.0120, rl_score_sum: 68.6783, score_diff: -1.6663, il_win: 76.0000, rl_win: 506.2667
2025-09-24 19:00:59,835 - mmdet - INFO - Epoch [23][1460/3517]	lr: 9.010e-07, eta: 1:14:40, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1564, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2694, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3687, debug_std_frame_5: 0.4230, loss_rl: -0.2928, loss_critic: 1.3663, loss_rl_bc: 0.0042, il_score: 0.6456, rl_score: 0.6988, prev_frame_loss_waypoint_0: 0.1574, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.4173, grad_norm: 37.5861, il_score_sum: 67.0120, rl_score_sum: 68.6783, score_diff: -1.6663, il_win: 76.0000, rl_win: 506.2667
2025-09-24 19:01:15,755 - mmdet - INFO - Epoch [23][1480/3517]	lr: 9.010e-07, eta: 1:14:24, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1599, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3178, debug_std_frame_4: 0.3684, debug_std_frame_5: 0.4226, loss_rl: -0.2726, loss_critic: 1.5544, loss_rl_bc: 0.0033, il_score: 0.6430, rl_score: 0.6622, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.6461, grad_norm: 39.1476, il_score_sum: 67.0120, rl_score_sum: 68.6783, score_diff: -1.6663, il_win: 76.0000, rl_win: 506.2667
2025-09-24 19:01:31,769 - mmdet - INFO - Epoch [23][1500/3517]	lr: 9.010e-07, eta: 1:14:08, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1630, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2235, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3768, debug_std_frame_5: 0.4321, loss_rl: -0.2868, loss_critic: 1.2299, loss_rl_bc: 0.0088, il_score: 0.6893, rl_score: 0.7087, prev_frame_loss_waypoint_0: 0.1687, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.3168, grad_norm: 37.3381, il_score_sum: 67.0120, rl_score_sum: 68.6783, score_diff: -1.6663, il_win: 76.0000, rl_win: 506.2667
2025-09-24 19:01:47,761 - mmdet - INFO - Epoch [23][1520/3517]	lr: 9.010e-07, eta: 1:13:52, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1855, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2694, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3745, debug_std_frame_5: 0.4293, loss_rl: -0.2513, loss_critic: 1.1624, loss_rl_bc: 0.0347, il_score: 0.6738, rl_score: 0.7040, prev_frame_loss_waypoint_0: 0.1898, prev_frame_loss_rl_bc_0: 0.0396, loss: 1.3855, grad_norm: 50.9559, il_score_sum: 67.0120, rl_score_sum: 68.6783, score_diff: -1.6663, il_win: 76.0000, rl_win: 506.2667
2025-09-24 19:02:03,752 - mmdet - INFO - Epoch [23][1540/3517]	lr: 9.010e-07, eta: 1:13:35, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1603, debug_std_frame_0: 0.2101, debug_std_frame_1: 0.2261, debug_std_frame_2: 0.2732, debug_std_frame_3: 0.3236, debug_std_frame_4: 0.3737, debug_std_frame_5: 0.4301, loss_rl: -0.3029, loss_critic: 1.7195, loss_rl_bc: 0.0049, il_score: 0.6701, rl_score: 0.6831, prev_frame_loss_waypoint_0: 0.1592, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.7697, grad_norm: 37.8510, il_score_sum: 67.0157, rl_score_sum: 68.7574, score_diff: -1.7418, il_win: 76.0000, rl_win: 506.6250
2025-09-24 19:02:19,635 - mmdet - INFO - Epoch [23][1560/3517]	lr: 9.010e-07, eta: 1:13:19, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1509, debug_std_frame_0: 0.2043, debug_std_frame_1: 0.2194, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4237, loss_rl: -0.2875, loss_critic: 1.2198, loss_rl_bc: 0.0019, il_score: 0.7222, rl_score: 0.7273, prev_frame_loss_waypoint_0: 0.1684, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.2816, grad_norm: 37.4662, il_score_sum: 67.0157, rl_score_sum: 68.7574, score_diff: -1.7418, il_win: 76.0000, rl_win: 506.6250
2025-09-24 19:02:35,853 - mmdet - INFO - Epoch [23][1580/3517]	lr: 9.010e-07, eta: 1:13:03, time: 0.811, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1637, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2218, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3129, debug_std_frame_4: 0.3607, debug_std_frame_5: 0.4094, loss_rl: -0.3056, loss_critic: 1.0836, loss_rl_bc: 0.0049, il_score: 0.6890, rl_score: 0.7209, prev_frame_loss_waypoint_0: 0.1777, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.1580, grad_norm: 36.8063, il_score_sum: 67.0157, rl_score_sum: 68.7574, score_diff: -1.7418, il_win: 76.0000, rl_win: 506.6250
2025-09-24 19:02:51,823 - mmdet - INFO - Epoch [23][1600/3517]	lr: 9.010e-07, eta: 1:12:47, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1608, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2666, debug_std_frame_3: 0.3129, debug_std_frame_4: 0.3595, debug_std_frame_5: 0.4130, loss_rl: -0.2683, loss_critic: 1.4755, loss_rl_bc: 0.0058, il_score: 0.6824, rl_score: 0.6918, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.5876, grad_norm: 39.4899, il_score_sum: 67.0157, rl_score_sum: 68.7574, score_diff: -1.7418, il_win: 76.0000, rl_win: 506.6250
2025-09-24 19:03:07,609 - mmdet - INFO - Epoch [23][1620/3517]	lr: 9.010e-07, eta: 1:12:31, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1748, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2733, debug_std_frame_3: 0.3252, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4363, loss_rl: -0.2516, loss_critic: 1.3553, loss_rl_bc: 0.0072, il_score: 0.6645, rl_score: 0.6728, prev_frame_loss_waypoint_0: 0.1821, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.5020, grad_norm: 38.3313, il_score_sum: 67.0157, rl_score_sum: 68.7574, score_diff: -1.7418, il_win: 76.0000, rl_win: 506.6250
2025-09-24 19:03:23,605 - mmdet - INFO - Epoch [23][1640/3517]	lr: 9.010e-07, eta: 1:12:15, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1777, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3801, debug_std_frame_5: 0.4349, loss_rl: -0.2231, loss_critic: 1.3100, loss_rl_bc: 0.0079, il_score: 0.6261, rl_score: 0.6677, prev_frame_loss_waypoint_0: 0.1786, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.4851, grad_norm: 39.1556, il_score_sum: 67.0669, rl_score_sum: 68.8129, score_diff: -1.7460, il_win: 76.0000, rl_win: 507.0000
2025-09-24 19:03:39,555 - mmdet - INFO - Epoch [23][1660/3517]	lr: 9.010e-07, eta: 1:11:59, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0272, loss_waypoint: 0.1593, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3241, debug_std_frame_4: 0.3754, debug_std_frame_5: 0.4328, loss_rl: -0.2596, loss_critic: 1.5385, loss_rl_bc: 0.0024, il_score: 0.6295, rl_score: 0.6540, prev_frame_loss_waypoint_0: 0.1783, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.6534, grad_norm: 47.3094, il_score_sum: 67.0669, rl_score_sum: 68.8129, score_diff: -1.7460, il_win: 76.0000, rl_win: 507.0000
2025-09-24 19:03:55,558 - mmdet - INFO - Epoch [23][1680/3517]	lr: 9.010e-07, eta: 1:11:43, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1571, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3236, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4310, loss_rl: -0.2754, loss_critic: 1.7297, loss_rl_bc: 0.0038, il_score: 0.6556, rl_score: 0.6767, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.8192, grad_norm: 38.4292, il_score_sum: 67.0669, rl_score_sum: 68.8129, score_diff: -1.7460, il_win: 76.0000, rl_win: 507.0000
2025-09-24 19:04:11,545 - mmdet - INFO - Epoch [23][1700/3517]	lr: 9.010e-07, eta: 1:11:27, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1438, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3650, debug_std_frame_5: 0.4223, loss_rl: -0.3332, loss_critic: 1.1860, loss_rl_bc: 0.0014, il_score: 0.6983, rl_score: 0.7221, prev_frame_loss_waypoint_0: 0.1538, prev_frame_loss_rl_bc_0: -0.0007, loss: 1.1755, grad_norm: 30.3976, il_score_sum: 67.0669, rl_score_sum: 68.8129, score_diff: -1.7460, il_win: 76.0000, rl_win: 507.0000
2025-09-24 19:04:27,461 - mmdet - INFO - Epoch [23][1720/3517]	lr: 9.010e-07, eta: 1:11:11, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1446, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2171, debug_std_frame_2: 0.2633, debug_std_frame_3: 0.3079, debug_std_frame_4: 0.3561, debug_std_frame_5: 0.4084, loss_rl: -0.3227, loss_critic: 1.4397, loss_rl_bc: -0.0003, il_score: 0.6742, rl_score: 0.7070, prev_frame_loss_waypoint_0: 0.1605, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.4499, grad_norm: 34.8951, il_score_sum: 67.0669, rl_score_sum: 68.8129, score_diff: -1.7460, il_win: 76.0000, rl_win: 507.0000
2025-09-24 19:04:43,750 - mmdet - INFO - Epoch [23][1740/3517]	lr: 9.010e-07, eta: 1:10:55, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1519, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2626, debug_std_frame_3: 0.3108, debug_std_frame_4: 0.3622, debug_std_frame_5: 0.4170, loss_rl: -0.3059, loss_critic: 0.9406, loss_rl_bc: -0.0010, il_score: 0.7341, rl_score: 0.7375, prev_frame_loss_waypoint_0: 0.1600, prev_frame_loss_rl_bc_0: 0.0015, loss: 0.9732, grad_norm: 41.3518, il_score_sum: 67.0148, rl_score_sum: 68.8013, score_diff: -1.7865, il_win: 76.0000, rl_win: 507.3889
2025-09-24 19:04:59,695 - mmdet - INFO - Epoch [23][1760/3517]	lr: 9.010e-07, eta: 1:10:39, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1730, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3736, debug_std_frame_5: 0.4300, loss_rl: -0.2614, loss_critic: 1.2645, loss_rl_bc: 0.0047, il_score: 0.6887, rl_score: 0.7065, prev_frame_loss_waypoint_0: 0.1834, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.3980, grad_norm: 39.6190, il_score_sum: 67.0148, rl_score_sum: 68.8013, score_diff: -1.7865, il_win: 76.0000, rl_win: 507.3889
2025-09-24 19:05:15,713 - mmdet - INFO - Epoch [23][1780/3517]	lr: 9.010e-07, eta: 1:10:22, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1622, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2683, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3626, debug_std_frame_5: 0.4146, loss_rl: -0.2687, loss_critic: 1.5349, loss_rl_bc: 0.0058, il_score: 0.6432, rl_score: 0.6561, prev_frame_loss_waypoint_0: 0.1600, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.6226, grad_norm: 34.5969, il_score_sum: 67.0148, rl_score_sum: 68.8013, score_diff: -1.7865, il_win: 76.0000, rl_win: 507.3889
2025-09-24 19:05:31,546 - mmdet - INFO - Epoch [23][1800/3517]	lr: 9.010e-07, eta: 1:10:06, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1537, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3668, debug_std_frame_5: 0.4203, loss_rl: -0.2976, loss_critic: 1.1550, loss_rl_bc: 0.0029, il_score: 0.6991, rl_score: 0.7121, prev_frame_loss_waypoint_0: 0.1707, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.2131, grad_norm: 33.0403, il_score_sum: 67.0148, rl_score_sum: 68.8013, score_diff: -1.7865, il_win: 76.0000, rl_win: 507.3889
2025-09-24 19:05:47,661 - mmdet - INFO - Epoch [23][1820/3517]	lr: 9.010e-07, eta: 1:09:50, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1452, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3242, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4354, loss_rl: -0.2922, loss_critic: 1.5189, loss_rl_bc: 0.0033, il_score: 0.6820, rl_score: 0.7027, prev_frame_loss_waypoint_0: 0.1700, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.5787, grad_norm: 41.5514, il_score_sum: 67.0148, rl_score_sum: 68.8013, score_diff: -1.7865, il_win: 76.0000, rl_win: 507.3889
2025-09-24 19:06:03,674 - mmdet - INFO - Epoch [23][1840/3517]	lr: 9.010e-07, eta: 1:09:34, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1312, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3099, debug_std_frame_4: 0.3580, debug_std_frame_5: 0.4115, loss_rl: -0.2984, loss_critic: 1.5780, loss_rl_bc: -0.0042, il_score: 0.6951, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1629, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.5966, grad_norm: 31.6176, il_score_sum: 67.1119, rl_score_sum: 68.8847, score_diff: -1.7729, il_win: 76.0000, rl_win: 507.7895
2025-09-24 19:06:19,569 - mmdet - INFO - Epoch [23][1860/3517]	lr: 9.010e-07, eta: 1:09:18, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1677, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2751, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4416, loss_rl: -0.2624, loss_critic: 1.2413, loss_rl_bc: 0.0049, il_score: 0.6656, rl_score: 0.6889, prev_frame_loss_waypoint_0: 0.1921, prev_frame_loss_rl_bc_0: 0.0101, loss: 1.3788, grad_norm: 39.6913, il_score_sum: 67.1119, rl_score_sum: 68.8847, score_diff: -1.7729, il_win: 76.0000, rl_win: 507.7895
2025-09-24 19:06:35,426 - mmdet - INFO - Epoch [23][1880/3517]	lr: 9.010e-07, eta: 1:09:02, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1842, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3762, debug_std_frame_5: 0.4337, loss_rl: -0.2568, loss_critic: 1.5899, loss_rl_bc: 0.0125, il_score: 0.6049, rl_score: 0.6590, prev_frame_loss_waypoint_0: 0.1877, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.7507, grad_norm: 34.6622, il_score_sum: 67.1119, rl_score_sum: 68.8847, score_diff: -1.7729, il_win: 76.0000, rl_win: 507.7895
2025-09-24 19:06:51,425 - mmdet - INFO - Epoch [23][1900/3517]	lr: 9.010e-07, eta: 1:08:46, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1569, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3138, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4179, loss_rl: -0.2807, loss_critic: 1.4527, loss_rl_bc: 0.0028, il_score: 0.6938, rl_score: 0.7063, prev_frame_loss_waypoint_0: 0.1640, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.5236, grad_norm: 39.5622, il_score_sum: 67.1119, rl_score_sum: 68.8847, score_diff: -1.7729, il_win: 76.0000, rl_win: 507.7895
2025-09-24 19:07:07,472 - mmdet - INFO - Epoch [23][1920/3517]	lr: 9.010e-07, eta: 1:08:30, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1645, debug_std_frame_0: 0.2042, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2688, debug_std_frame_3: 0.3183, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4199, loss_rl: -0.2944, loss_critic: 1.1497, loss_rl_bc: 0.0055, il_score: 0.6983, rl_score: 0.7125, prev_frame_loss_waypoint_0: 0.1727, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.2308, grad_norm: 37.2623, il_score_sum: 67.1119, rl_score_sum: 68.8847, score_diff: -1.7729, il_win: 76.0000, rl_win: 507.7895
2025-09-24 19:07:23,731 - mmdet - INFO - Epoch [23][1940/3517]	lr: 9.010e-07, eta: 1:08:14, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1592, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3297, debug_std_frame_4: 0.3817, debug_std_frame_5: 0.4369, loss_rl: -0.2705, loss_critic: 1.4450, loss_rl_bc: 0.0036, il_score: 0.6705, rl_score: 0.7040, prev_frame_loss_waypoint_0: 0.1736, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.5416, grad_norm: 30.5124, il_score_sum: 67.1143, rl_score_sum: 68.9062, score_diff: -1.7919, il_win: 76.0000, rl_win: 508.2000
2025-09-24 19:07:39,702 - mmdet - INFO - Epoch [23][1960/3517]	lr: 9.010e-07, eta: 1:07:58, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1692, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2250, debug_std_frame_2: 0.2776, debug_std_frame_3: 0.3303, debug_std_frame_4: 0.3858, debug_std_frame_5: 0.4438, loss_rl: -0.2481, loss_critic: 1.3123, loss_rl_bc: 0.0056, il_score: 0.6479, rl_score: 0.6521, prev_frame_loss_waypoint_0: 0.1748, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.4447, grad_norm: 38.4642, il_score_sum: 67.1143, rl_score_sum: 68.9062, score_diff: -1.7919, il_win: 76.0000, rl_win: 508.2000
2025-09-24 19:07:55,746 - mmdet - INFO - Epoch [23][1980/3517]	lr: 9.010e-07, eta: 1:07:42, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1664, debug_std_frame_0: 0.2116, debug_std_frame_1: 0.2287, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3752, debug_std_frame_5: 0.4327, loss_rl: -0.2694, loss_critic: 1.2629, loss_rl_bc: 0.0057, il_score: 0.6918, rl_score: 0.6984, prev_frame_loss_waypoint_0: 0.1770, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.3733, grad_norm: 46.7438, il_score_sum: 67.1143, rl_score_sum: 68.9062, score_diff: -1.7919, il_win: 76.0000, rl_win: 508.2000
2025-09-24 19:08:11,773 - mmdet - INFO - Epoch [23][2000/3517]	lr: 9.010e-07, eta: 1:07:26, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1528, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2662, debug_std_frame_3: 0.3144, debug_std_frame_4: 0.3663, debug_std_frame_5: 0.4214, loss_rl: -0.2901, loss_critic: 1.4196, loss_rl_bc: 0.0021, il_score: 0.6797, rl_score: 0.7111, prev_frame_loss_waypoint_0: 0.1655, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.4783, grad_norm: 39.7205, il_score_sum: 67.1143, rl_score_sum: 68.9062, score_diff: -1.7919, il_win: 76.0000, rl_win: 508.2000
2025-09-24 19:08:27,918 - mmdet - INFO - Epoch [23][2020/3517]	lr: 9.010e-07, eta: 1:07:10, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1421, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2662, debug_std_frame_3: 0.3125, debug_std_frame_4: 0.3600, debug_std_frame_5: 0.4108, loss_rl: -0.3165, loss_critic: 1.2151, loss_rl_bc: -0.0014, il_score: 0.6827, rl_score: 0.7092, prev_frame_loss_waypoint_0: 0.1626, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.2344, grad_norm: 38.0094, il_score_sum: 67.1143, rl_score_sum: 68.9062, score_diff: -1.7919, il_win: 76.0000, rl_win: 508.2000
2025-09-24 19:08:44,030 - mmdet - INFO - Epoch [23][2040/3517]	lr: 9.010e-07, eta: 1:06:53, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1498, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2747, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3760, debug_std_frame_5: 0.4294, loss_rl: -0.2644, loss_critic: 1.3554, loss_rl_bc: 0.0032, il_score: 0.6569, rl_score: 0.6807, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.4404, grad_norm: 42.2787, il_score_sum: 67.1648, rl_score_sum: 68.9520, score_diff: -1.7872, il_win: 76.0000, rl_win: 509.0000
2025-09-24 19:08:59,978 - mmdet - INFO - Epoch [23][2060/3517]	lr: 9.010e-07, eta: 1:06:37, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1661, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2737, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3844, debug_std_frame_5: 0.4450, loss_rl: -0.2437, loss_critic: 1.3549, loss_rl_bc: 0.0045, il_score: 0.6716, rl_score: 0.6893, prev_frame_loss_waypoint_0: 0.1824, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.4982, grad_norm: 50.6233, il_score_sum: 67.1648, rl_score_sum: 68.9520, score_diff: -1.7872, il_win: 76.0000, rl_win: 509.0000
2025-09-24 19:09:15,991 - mmdet - INFO - Epoch [23][2080/3517]	lr: 9.010e-07, eta: 1:06:21, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1514, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3166, debug_std_frame_4: 0.3656, debug_std_frame_5: 0.4209, loss_rl: -0.3044, loss_critic: 1.5280, loss_rl_bc: 0.0008, il_score: 0.6530, rl_score: 0.6836, prev_frame_loss_waypoint_0: 0.1633, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.5679, grad_norm: 36.9382, il_score_sum: 67.1648, rl_score_sum: 68.9520, score_diff: -1.7872, il_win: 76.0000, rl_win: 509.0000
2025-09-24 19:09:31,973 - mmdet - INFO - Epoch [23][2100/3517]	lr: 9.010e-07, eta: 1:06:05, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1675, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3257, debug_std_frame_4: 0.3806, debug_std_frame_5: 0.4373, loss_rl: -0.2589, loss_critic: 1.2875, loss_rl_bc: 0.0036, il_score: 0.6524, rl_score: 0.6947, prev_frame_loss_waypoint_0: 0.1924, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.4257, grad_norm: 34.2673, il_score_sum: 67.1648, rl_score_sum: 68.9520, score_diff: -1.7872, il_win: 76.0000, rl_win: 509.0000
2025-09-24 19:09:47,941 - mmdet - INFO - Epoch [23][2120/3517]	lr: 9.010e-07, eta: 1:05:49, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1660, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3282, debug_std_frame_4: 0.3826, debug_std_frame_5: 0.4378, loss_rl: -0.2624, loss_critic: 1.4250, loss_rl_bc: 0.0045, il_score: 0.6681, rl_score: 0.6792, prev_frame_loss_waypoint_0: 0.1759, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.5384, grad_norm: 32.7914, il_score_sum: 67.1648, rl_score_sum: 68.9520, score_diff: -1.7872, il_win: 76.0000, rl_win: 509.0000
2025-09-24 19:10:03,970 - mmdet - INFO - Epoch [23][2140/3517]	lr: 9.010e-07, eta: 1:05:33, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1713, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2259, debug_std_frame_2: 0.2785, debug_std_frame_3: 0.3324, debug_std_frame_4: 0.3860, debug_std_frame_5: 0.4450, loss_rl: -0.2719, loss_critic: 1.2116, loss_rl_bc: 0.0073, il_score: 0.6584, rl_score: 0.6782, prev_frame_loss_waypoint_0: 0.1934, prev_frame_loss_rl_bc_0: 0.0122, loss: 1.3498, grad_norm: 42.9357, il_score_sum: 67.1727, rl_score_sum: 68.9749, score_diff: -1.8022, il_win: 76.0000, rl_win: 509.8000
2025-09-24 19:10:20,092 - mmdet - INFO - Epoch [23][2160/3517]	lr: 9.010e-07, eta: 1:05:17, time: 0.806, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1443, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3726, debug_std_frame_5: 0.4286, loss_rl: -0.2502, loss_critic: 1.4219, loss_rl_bc: 0.0004, il_score: 0.6655, rl_score: 0.6825, prev_frame_loss_waypoint_0: 0.1622, prev_frame_loss_rl_bc_0: 0.0012, loss: 1.5048, grad_norm: 31.3295, il_score_sum: 67.1727, rl_score_sum: 68.9749, score_diff: -1.8022, il_win: 76.0000, rl_win: 509.8000
2025-09-24 19:10:35,978 - mmdet - INFO - Epoch [23][2180/3517]	lr: 9.010e-07, eta: 1:05:01, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1463, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2181, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3113, debug_std_frame_4: 0.3614, debug_std_frame_5: 0.4152, loss_rl: -0.3203, loss_critic: 1.3408, loss_rl_bc: 0.0002, il_score: 0.6940, rl_score: 0.7151, prev_frame_loss_waypoint_0: 0.1630, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.3564, grad_norm: 37.3587, il_score_sum: 67.1727, rl_score_sum: 68.9749, score_diff: -1.8022, il_win: 76.0000, rl_win: 509.8000
2025-09-24 19:10:51,747 - mmdet - INFO - Epoch [23][2200/3517]	lr: 9.010e-07, eta: 1:04:45, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1576, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3711, debug_std_frame_5: 0.4295, loss_rl: -0.2681, loss_critic: 1.1726, loss_rl_bc: 0.0035, il_score: 0.6688, rl_score: 0.6891, prev_frame_loss_waypoint_0: 0.1615, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.2557, grad_norm: 33.0139, il_score_sum: 67.1727, rl_score_sum: 68.9749, score_diff: -1.8022, il_win: 76.0000, rl_win: 509.8000
2025-09-24 19:11:07,561 - mmdet - INFO - Epoch [23][2220/3517]	lr: 9.010e-07, eta: 1:04:29, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1703, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2243, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3222, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4330, loss_rl: -0.2951, loss_critic: 1.4114, loss_rl_bc: 0.0075, il_score: 0.6962, rl_score: 0.7070, prev_frame_loss_waypoint_0: 0.1729, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.4955, grad_norm: 41.7079, il_score_sum: 67.1727, rl_score_sum: 68.9749, score_diff: -1.8022, il_win: 76.0000, rl_win: 509.8000
2025-09-24 19:11:23,585 - mmdet - INFO - Epoch [23][2240/3517]	lr: 9.010e-07, eta: 1:04:13, time: 0.801, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1485, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2186, debug_std_frame_2: 0.2655, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4178, loss_rl: -0.2669, loss_critic: 1.3366, loss_rl_bc: 0.0004, il_score: 0.7126, rl_score: 0.7104, prev_frame_loss_waypoint_0: 0.1593, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.4043, grad_norm: 36.3726, il_score_sum: 67.1663, rl_score_sum: 68.9593, score_diff: -1.7930, il_win: 76.0000, rl_win: 510.6000
2025-09-24 19:11:39,434 - mmdet - INFO - Epoch [23][2260/3517]	lr: 9.010e-07, eta: 1:03:57, time: 0.792, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1744, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2657, debug_std_frame_3: 0.3142, debug_std_frame_4: 0.3639, debug_std_frame_5: 0.4203, loss_rl: -0.2635, loss_critic: 1.7327, loss_rl_bc: 0.0079, il_score: 0.6571, rl_score: 0.6606, prev_frame_loss_waypoint_0: 0.1901, prev_frame_loss_rl_bc_0: 0.0077, loss: 1.8746, grad_norm: 44.8145, il_score_sum: 67.1663, rl_score_sum: 68.9593, score_diff: -1.7930, il_win: 76.0000, rl_win: 510.6000
2025-09-24 19:11:55,493 - mmdet - INFO - Epoch [23][2280/3517]	lr: 9.010e-07, eta: 1:03:40, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1595, debug_std_frame_0: 0.2042, debug_std_frame_1: 0.2188, debug_std_frame_2: 0.2668, debug_std_frame_3: 0.3164, debug_std_frame_4: 0.3678, debug_std_frame_5: 0.4248, loss_rl: -0.2653, loss_critic: 0.9668, loss_rl_bc: 0.0026, il_score: 0.6545, rl_score: 0.6526, prev_frame_loss_waypoint_0: 0.1931, prev_frame_loss_rl_bc_0: 0.0131, loss: 1.0966, grad_norm: 40.4830, il_score_sum: 67.1663, rl_score_sum: 68.9593, score_diff: -1.7930, il_win: 76.0000, rl_win: 510.6000
2025-09-24 19:12:11,498 - mmdet - INFO - Epoch [23][2300/3517]	lr: 9.010e-07, eta: 1:03:24, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1780, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3783, debug_std_frame_5: 0.4371, loss_rl: -0.2609, loss_critic: 1.4230, loss_rl_bc: 0.0091, il_score: 0.6291, rl_score: 0.6519, prev_frame_loss_waypoint_0: 0.2054, prev_frame_loss_rl_bc_0: 0.0133, loss: 1.5947, grad_norm: 46.9150, il_score_sum: 67.1663, rl_score_sum: 68.9593, score_diff: -1.7930, il_win: 76.0000, rl_win: 510.6000
2025-09-24 19:12:27,252 - mmdet - INFO - Epoch [23][2320/3517]	lr: 9.010e-07, eta: 1:03:08, time: 0.788, data_time: 0.011, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1691, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2718, debug_std_frame_3: 0.3258, debug_std_frame_4: 0.3785, debug_std_frame_5: 0.4406, loss_rl: -0.2725, loss_critic: 1.2266, loss_rl_bc: 0.0046, il_score: 0.6734, rl_score: 0.6832, prev_frame_loss_waypoint_0: 0.1607, prev_frame_loss_rl_bc_0: 0.0012, loss: 1.3145, grad_norm: 34.7366, il_score_sum: 67.1663, rl_score_sum: 68.9593, score_diff: -1.7930, il_win: 76.0000, rl_win: 510.6000
2025-09-24 19:12:43,236 - mmdet - INFO - Epoch [23][2340/3517]	lr: 9.010e-07, eta: 1:02:52, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1585, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2246, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3761, debug_std_frame_5: 0.4337, loss_rl: -0.2838, loss_critic: 1.2362, loss_rl_bc: 0.0031, il_score: 0.6765, rl_score: 0.7129, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.3154, grad_norm: 33.2279, il_score_sum: 67.2062, rl_score_sum: 68.9108, score_diff: -1.7045, il_win: 76.0000, rl_win: 511.4000
2025-09-24 19:12:59,113 - mmdet - INFO - Epoch [23][2360/3517]	lr: 9.010e-07, eta: 1:02:36, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1541, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3197, debug_std_frame_4: 0.3692, debug_std_frame_5: 0.4215, loss_rl: -0.2683, loss_critic: 1.2862, loss_rl_bc: 0.0028, il_score: 0.6965, rl_score: 0.6823, prev_frame_loss_waypoint_0: 0.1676, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.3711, grad_norm: 37.6275, il_score_sum: 67.2062, rl_score_sum: 68.9108, score_diff: -1.7045, il_win: 76.0000, rl_win: 511.4000
2025-09-24 19:13:15,178 - mmdet - INFO - Epoch [23][2380/3517]	lr: 9.010e-07, eta: 1:02:20, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1783, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2720, debug_std_frame_3: 0.3225, debug_std_frame_4: 0.3752, debug_std_frame_5: 0.4303, loss_rl: -0.2840, loss_critic: 1.2531, loss_rl_bc: 0.0090, il_score: 0.6738, rl_score: 0.6799, prev_frame_loss_waypoint_0: 0.1824, prev_frame_loss_rl_bc_0: 0.0080, loss: 1.3726, grad_norm: 40.4233, il_score_sum: 67.2062, rl_score_sum: 68.9108, score_diff: -1.7045, il_win: 76.0000, rl_win: 511.4000
2025-09-24 19:13:31,087 - mmdet - INFO - Epoch [23][2400/3517]	lr: 9.010e-07, eta: 1:02:04, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1591, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4319, loss_rl: -0.2314, loss_critic: 1.2665, loss_rl_bc: 0.0021, il_score: 0.6712, rl_score: 0.6971, prev_frame_loss_waypoint_0: 0.1542, prev_frame_loss_rl_bc_0: -0.0020, loss: 1.3740, grad_norm: 35.9582, il_score_sum: 67.2062, rl_score_sum: 68.9108, score_diff: -1.7045, il_win: 76.0000, rl_win: 511.4000
2025-09-24 19:13:47,078 - mmdet - INFO - Epoch [23][2420/3517]	lr: 9.010e-07, eta: 1:01:48, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1518, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2635, debug_std_frame_3: 0.3125, debug_std_frame_4: 0.3613, debug_std_frame_5: 0.4144, loss_rl: -0.3261, loss_critic: 1.1747, loss_rl_bc: 0.0006, il_score: 0.6898, rl_score: 0.7195, prev_frame_loss_waypoint_0: 0.1448, prev_frame_loss_rl_bc_0: -0.0010, loss: 1.1698, grad_norm: 40.1966, il_score_sum: 67.2062, rl_score_sum: 68.9108, score_diff: -1.7045, il_win: 76.0000, rl_win: 511.4000
2025-09-24 19:14:03,118 - mmdet - INFO - Epoch [23][2440/3517]	lr: 9.010e-07, eta: 1:01:32, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1560, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4347, loss_rl: -0.2482, loss_critic: 1.2996, loss_rl_bc: 0.0013, il_score: 0.6708, rl_score: 0.6786, prev_frame_loss_waypoint_0: 0.1712, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4128, grad_norm: 47.8777, il_score_sum: 67.1834, rl_score_sum: 68.9350, score_diff: -1.7516, il_win: 76.0000, rl_win: 512.2500
2025-09-24 19:14:19,030 - mmdet - INFO - Epoch [23][2460/3517]	lr: 9.010e-07, eta: 1:01:16, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1618, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2189, debug_std_frame_2: 0.2659, debug_std_frame_3: 0.3143, debug_std_frame_4: 0.3632, debug_std_frame_5: 0.4184, loss_rl: -0.2652, loss_critic: 1.7831, loss_rl_bc: 0.0063, il_score: 0.6633, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.1660, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.8798, grad_norm: 37.3769, il_score_sum: 67.1834, rl_score_sum: 68.9350, score_diff: -1.7516, il_win: 76.0000, rl_win: 512.2500
2025-09-24 19:14:35,163 - mmdet - INFO - Epoch [23][2480/3517]	lr: 9.010e-07, eta: 1:01:00, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1743, debug_std_frame_0: 0.2042, debug_std_frame_1: 0.2180, debug_std_frame_2: 0.2642, debug_std_frame_3: 0.3096, debug_std_frame_4: 0.3569, debug_std_frame_5: 0.4079, loss_rl: -0.3234, loss_critic: 1.0441, loss_rl_bc: 0.0067, il_score: 0.6809, rl_score: 0.7140, prev_frame_loss_waypoint_0: 0.1587, prev_frame_loss_rl_bc_0: -0.0019, loss: 1.0846, grad_norm: 43.7920, il_score_sum: 67.1834, rl_score_sum: 68.9350, score_diff: -1.7516, il_win: 76.0000, rl_win: 512.2500
2025-09-24 19:14:51,082 - mmdet - INFO - Epoch [23][2500/3517]	lr: 9.010e-07, eta: 1:00:44, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1481, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2176, debug_std_frame_2: 0.2606, debug_std_frame_3: 0.3064, debug_std_frame_4: 0.3521, debug_std_frame_5: 0.3984, loss_rl: -0.2744, loss_critic: 1.4611, loss_rl_bc: 0.0005, il_score: 0.6743, rl_score: 0.7085, prev_frame_loss_waypoint_0: 0.1516, prev_frame_loss_rl_bc_0: -0.0024, loss: 1.5093, grad_norm: 37.8571, il_score_sum: 67.1834, rl_score_sum: 68.9350, score_diff: -1.7516, il_win: 76.0000, rl_win: 512.2500
2025-09-24 19:15:07,002 - mmdet - INFO - Epoch [23][2520/3517]	lr: 9.010e-07, eta: 1:00:27, time: 0.796, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1577, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3728, debug_std_frame_5: 0.4266, loss_rl: -0.2570, loss_critic: 1.3879, loss_rl_bc: 0.0045, il_score: 0.6568, rl_score: 0.6782, prev_frame_loss_waypoint_0: 0.1780, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.5023, grad_norm: 40.3546, il_score_sum: 67.1834, rl_score_sum: 68.9350, score_diff: -1.7516, il_win: 76.0000, rl_win: 512.2500
2025-09-24 19:15:23,089 - mmdet - INFO - Epoch [23][2540/3517]	lr: 9.010e-07, eta: 1:00:11, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1524, debug_std_frame_0: 0.2040, debug_std_frame_1: 0.2177, debug_std_frame_2: 0.2644, debug_std_frame_3: 0.3130, debug_std_frame_4: 0.3622, debug_std_frame_5: 0.4132, loss_rl: -0.3062, loss_critic: 1.1488, loss_rl_bc: -0.0018, il_score: 0.7057, rl_score: 0.7385, prev_frame_loss_waypoint_0: 0.1517, prev_frame_loss_rl_bc_0: -0.0006, loss: 1.1695, grad_norm: 32.4165, il_score_sum: 67.1757, rl_score_sum: 68.9448, score_diff: -1.7691, il_win: 76.0000, rl_win: 513.1000
2025-09-24 19:15:39,193 - mmdet - INFO - Epoch [23][2560/3517]	lr: 9.010e-07, eta: 0:59:55, time: 0.805, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1600, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2683, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3665, debug_std_frame_5: 0.4200, loss_rl: -0.2304, loss_critic: 1.0299, loss_rl_bc: 0.0024, il_score: 0.6938, rl_score: 0.7032, prev_frame_loss_waypoint_0: 0.1648, prev_frame_loss_rl_bc_0: -0.0016, loss: 1.1506, grad_norm: 31.9960, il_score_sum: 67.1757, rl_score_sum: 68.9448, score_diff: -1.7691, il_win: 76.0000, rl_win: 513.1000
2025-09-24 19:15:55,123 - mmdet - INFO - Epoch [23][2580/3517]	lr: 9.010e-07, eta: 0:59:39, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1465, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2633, debug_std_frame_3: 0.3091, debug_std_frame_4: 0.3572, debug_std_frame_5: 0.4100, loss_rl: -0.3056, loss_critic: 1.4924, loss_rl_bc: 0.0002, il_score: 0.6672, rl_score: 0.6939, prev_frame_loss_waypoint_0: 0.1596, prev_frame_loss_rl_bc_0: 0.0003, loss: 1.5192, grad_norm: 44.5879, il_score_sum: 67.1757, rl_score_sum: 68.9448, score_diff: -1.7691, il_win: 76.0000, rl_win: 513.1000
2025-09-24 19:16:11,029 - mmdet - INFO - Epoch [23][2600/3517]	lr: 9.010e-07, eta: 0:59:23, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0271, loss_waypoint: 0.1735, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3244, debug_std_frame_4: 0.3798, debug_std_frame_5: 0.4381, loss_rl: -0.2104, loss_critic: 1.5160, loss_rl_bc: 0.0089, il_score: 0.6428, rl_score: 0.6668, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.7092, grad_norm: 41.1790, il_score_sum: 67.1757, rl_score_sum: 68.9448, score_diff: -1.7691, il_win: 76.0000, rl_win: 513.1000
2025-09-24 19:16:26,856 - mmdet - INFO - Epoch [23][2620/3517]	lr: 9.010e-07, eta: 0:59:07, time: 0.791, data_time: 0.012, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1485, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2188, debug_std_frame_2: 0.2663, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3678, debug_std_frame_5: 0.4239, loss_rl: -0.2708, loss_critic: 1.2648, loss_rl_bc: 0.0010, il_score: 0.6762, rl_score: 0.6810, prev_frame_loss_waypoint_0: 0.1756, prev_frame_loss_rl_bc_0: 0.0074, loss: 1.3519, grad_norm: 36.2186, il_score_sum: 67.1757, rl_score_sum: 68.9448, score_diff: -1.7691, il_win: 76.0000, rl_win: 513.1000
2025-09-24 19:16:42,930 - mmdet - INFO - Epoch [23][2640/3517]	lr: 9.010e-07, eta: 0:58:51, time: 0.804, data_time: 0.012, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1564, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3229, debug_std_frame_4: 0.3767, debug_std_frame_5: 0.4342, loss_rl: -0.2506, loss_critic: 1.4611, loss_rl_bc: 0.0039, il_score: 0.6325, rl_score: 0.6577, prev_frame_loss_waypoint_0: 0.1817, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.5840, grad_norm: 43.5381, il_score_sum: 67.1773, rl_score_sum: 68.9886, score_diff: -1.8113, il_win: 76.0000, rl_win: 513.9500
2025-09-24 19:16:58,802 - mmdet - INFO - Epoch [23][2660/3517]	lr: 9.010e-07, eta: 0:58:35, time: 0.794, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1568, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2714, debug_std_frame_3: 0.3230, debug_std_frame_4: 0.3752, debug_std_frame_5: 0.4333, loss_rl: -0.2401, loss_critic: 1.3889, loss_rl_bc: 0.0030, il_score: 0.6684, rl_score: 0.6718, prev_frame_loss_waypoint_0: 0.1846, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.5270, grad_norm: 43.5253, il_score_sum: 67.1773, rl_score_sum: 68.9886, score_diff: -1.8113, il_win: 76.0000, rl_win: 513.9500
2025-09-24 19:17:14,736 - mmdet - INFO - Epoch [23][2680/3517]	lr: 9.010e-07, eta: 0:58:19, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1586, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3675, debug_std_frame_5: 0.4274, loss_rl: -0.2446, loss_critic: 1.4516, loss_rl_bc: 0.0069, il_score: 0.6730, rl_score: 0.6818, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.5704, grad_norm: 35.0537, il_score_sum: 67.1773, rl_score_sum: 68.9886, score_diff: -1.8113, il_win: 76.0000, rl_win: 513.9500
2025-09-24 19:17:30,538 - mmdet - INFO - Epoch [23][2700/3517]	lr: 9.010e-07, eta: 0:58:03, time: 0.790, data_time: 0.011, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1589, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2679, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4251, loss_rl: -0.2370, loss_critic: 1.5309, loss_rl_bc: 0.0042, il_score: 0.6614, rl_score: 0.6668, prev_frame_loss_waypoint_0: 0.1613, prev_frame_loss_rl_bc_0: 0.0001, loss: 1.6429, grad_norm: 37.3892, il_score_sum: 67.1773, rl_score_sum: 68.9886, score_diff: -1.8113, il_win: 76.0000, rl_win: 513.9500
2025-09-24 19:17:46,423 - mmdet - INFO - Epoch [23][2720/3517]	lr: 9.010e-07, eta: 0:57:47, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1535, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2207, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4337, loss_rl: -0.2772, loss_critic: 1.4388, loss_rl_bc: 0.0039, il_score: 0.6735, rl_score: 0.6761, prev_frame_loss_waypoint_0: 0.1726, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.5193, grad_norm: 41.0194, il_score_sum: 67.1773, rl_score_sum: 68.9886, score_diff: -1.8113, il_win: 76.0000, rl_win: 513.9500
2025-09-24 19:18:02,519 - mmdet - INFO - Epoch [23][2740/3517]	lr: 9.010e-07, eta: 0:57:31, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1548, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2192, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3665, debug_std_frame_5: 0.4239, loss_rl: -0.3024, loss_critic: 1.1848, loss_rl_bc: 0.0005, il_score: 0.6805, rl_score: 0.7122, prev_frame_loss_waypoint_0: 0.1748, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.2437, grad_norm: 33.4241, il_score_sum: 67.0697, rl_score_sum: 68.8851, score_diff: -1.8155, il_win: 76.0000, rl_win: 514.8000
2025-09-24 19:18:18,361 - mmdet - INFO - Epoch [23][2760/3517]	lr: 9.010e-07, eta: 0:57:14, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1712, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3254, debug_std_frame_4: 0.3809, debug_std_frame_5: 0.4404, loss_rl: -0.2495, loss_critic: 1.3709, loss_rl_bc: 0.0083, il_score: 0.6488, rl_score: 0.6692, prev_frame_loss_waypoint_0: 0.1919, prev_frame_loss_rl_bc_0: 0.0086, loss: 1.5277, grad_norm: 33.4211, il_score_sum: 67.0697, rl_score_sum: 68.8851, score_diff: -1.8155, il_win: 76.0000, rl_win: 514.8000
2025-09-24 19:18:34,258 - mmdet - INFO - Epoch [23][2780/3517]	lr: 9.010e-07, eta: 0:56:58, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1825, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3287, debug_std_frame_4: 0.3832, debug_std_frame_5: 0.4409, loss_rl: -0.2646, loss_critic: 1.2114, loss_rl_bc: 0.0087, il_score: 0.6565, rl_score: 0.6725, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.3535, grad_norm: 38.0733, il_score_sum: 67.0697, rl_score_sum: 68.8851, score_diff: -1.8155, il_win: 76.0000, rl_win: 514.8000
2025-09-24 19:18:50,264 - mmdet - INFO - Epoch [23][2800/3517]	lr: 9.010e-07, eta: 0:56:42, time: 0.800, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1659, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2647, debug_std_frame_3: 0.3128, debug_std_frame_4: 0.3626, debug_std_frame_5: 0.4186, loss_rl: -0.2434, loss_critic: 1.3781, loss_rl_bc: 0.0031, il_score: 0.6675, rl_score: 0.6849, prev_frame_loss_waypoint_0: 0.1675, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.5002, grad_norm: 33.9664, il_score_sum: 67.0697, rl_score_sum: 68.8851, score_diff: -1.8155, il_win: 76.0000, rl_win: 514.8000
2025-09-24 19:19:06,114 - mmdet - INFO - Epoch [23][2820/3517]	lr: 9.010e-07, eta: 0:56:26, time: 0.792, data_time: 0.011, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1398, debug_std_frame_0: 0.2040, debug_std_frame_1: 0.2163, debug_std_frame_2: 0.2613, debug_std_frame_3: 0.3111, debug_std_frame_4: 0.3620, debug_std_frame_5: 0.4149, loss_rl: -0.2763, loss_critic: 1.6532, loss_rl_bc: -0.0008, il_score: 0.6730, rl_score: 0.6961, prev_frame_loss_waypoint_0: 0.1496, prev_frame_loss_rl_bc_0: -0.0011, loss: 1.6891, grad_norm: 35.2235, il_score_sum: 67.0697, rl_score_sum: 68.8851, score_diff: -1.8155, il_win: 76.0000, rl_win: 514.8000
2025-09-24 19:19:22,501 - mmdet - INFO - Epoch [23][2840/3517]	lr: 9.010e-07, eta: 0:56:10, time: 0.820, data_time: 0.013, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1659, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2213, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3153, debug_std_frame_4: 0.3663, debug_std_frame_5: 0.4195, loss_rl: -0.2645, loss_critic: 1.4476, loss_rl_bc: 0.0054, il_score: 0.6381, rl_score: 0.6838, prev_frame_loss_waypoint_0: 0.1497, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.5320, grad_norm: 32.1274, il_score_sum: 66.9818, rl_score_sum: 68.8003, score_diff: -1.8185, il_win: 76.0000, rl_win: 515.6500
2025-09-24 19:19:41,612 - mmdet - INFO - Epoch [23][2860/3517]	lr: 9.010e-07, eta: 0:55:54, time: 0.947, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1548, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2174, debug_std_frame_2: 0.2602, debug_std_frame_3: 0.3047, debug_std_frame_4: 0.3495, debug_std_frame_5: 0.4023, loss_rl: -0.3195, loss_critic: 1.3644, loss_rl_bc: 0.0039, il_score: 0.6948, rl_score: 0.7088, prev_frame_loss_waypoint_0: 0.1632, prev_frame_loss_rl_bc_0: 0.0022, loss: 1.3953, grad_norm: 38.7450, il_score_sum: 66.9818, rl_score_sum: 68.8003, score_diff: -1.8185, il_win: 76.0000, rl_win: 515.6500
2025-09-24 19:20:25,645 - mmdet - INFO - Epoch [23][2880/3517]	lr: 9.010e-07, eta: 0:55:40, time: 2.206, data_time: 0.046, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1645, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3141, debug_std_frame_4: 0.3635, debug_std_frame_5: 0.4184, loss_rl: -0.2803, loss_critic: 1.1474, loss_rl_bc: 0.0043, il_score: 0.6779, rl_score: 0.6883, prev_frame_loss_waypoint_0: 0.1605, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.2229, grad_norm: 37.1096, il_score_sum: 66.9818, rl_score_sum: 68.8003, score_diff: -1.8185, il_win: 76.0000, rl_win: 515.6500
2025-09-24 19:21:09,060 - mmdet - INFO - Epoch [23][2900/3517]	lr: 9.010e-07, eta: 0:55:25, time: 2.174, data_time: 0.030, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1555, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2655, debug_std_frame_3: 0.3117, debug_std_frame_4: 0.3590, debug_std_frame_5: 0.4128, loss_rl: -0.2574, loss_critic: 1.3552, loss_rl_bc: 0.0049, il_score: 0.6544, rl_score: 0.6599, prev_frame_loss_waypoint_0: 0.1739, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.4644, grad_norm: 34.9557, il_score_sum: 66.9818, rl_score_sum: 68.8003, score_diff: -1.8185, il_win: 76.0000, rl_win: 515.6500
2025-09-24 19:21:53,214 - mmdet - INFO - Epoch [23][2920/3517]	lr: 9.010e-07, eta: 0:55:10, time: 2.204, data_time: 0.033, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1563, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2223, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3735, debug_std_frame_5: 0.4294, loss_rl: -0.2774, loss_critic: 1.1145, loss_rl_bc: 0.0022, il_score: 0.6741, rl_score: 0.6736, prev_frame_loss_waypoint_0: 0.1757, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.1997, grad_norm: 38.5063, il_score_sum: 66.9818, rl_score_sum: 68.8003, score_diff: -1.8185, il_win: 76.0000, rl_win: 515.6500
2025-09-24 19:22:37,911 - mmdet - INFO - Epoch [23][2940/3517]	lr: 9.010e-07, eta: 0:54:56, time: 2.237, data_time: 0.030, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1585, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3299, debug_std_frame_4: 0.3859, debug_std_frame_5: 0.4462, loss_rl: -0.2260, loss_critic: 1.2821, loss_rl_bc: 0.0028, il_score: 0.6444, rl_score: 0.6727, prev_frame_loss_waypoint_0: 0.1775, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.4307, grad_norm: 36.7210, il_score_sum: 66.9937, rl_score_sum: 68.7910, score_diff: -1.7974, il_win: 76.0000, rl_win: 516.5000
2025-09-24 19:23:14,824 - mmdet - INFO - Epoch [23][2960/3517]	lr: 9.010e-07, eta: 0:54:41, time: 1.848, data_time: 0.022, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1663, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2190, debug_std_frame_2: 0.2673, debug_std_frame_3: 0.3200, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4293, loss_rl: -0.3093, loss_critic: 1.2297, loss_rl_bc: 0.0037, il_score: 0.7098, rl_score: 0.7091, prev_frame_loss_waypoint_0: 0.1687, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.2883, grad_norm: 43.5267, il_score_sum: 66.9937, rl_score_sum: 68.7910, score_diff: -1.7974, il_win: 76.0000, rl_win: 516.5000
2025-09-24 19:23:31,094 - mmdet - INFO - Epoch [23][2980/3517]	lr: 9.010e-07, eta: 0:54:25, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1388, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2193, debug_std_frame_2: 0.2639, debug_std_frame_3: 0.3114, debug_std_frame_4: 0.3613, debug_std_frame_5: 0.4172, loss_rl: -0.2921, loss_critic: 1.2296, loss_rl_bc: -0.0006, il_score: 0.7234, rl_score: 0.7187, prev_frame_loss_waypoint_0: 0.1660, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.2694, grad_norm: 35.1244, il_score_sum: 66.9937, rl_score_sum: 68.7910, score_diff: -1.7974, il_win: 76.0000, rl_win: 516.5000
2025-09-24 19:23:47,188 - mmdet - INFO - Epoch [23][3000/3517]	lr: 9.010e-07, eta: 0:54:08, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1615, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2171, debug_std_frame_2: 0.2586, debug_std_frame_3: 0.3061, debug_std_frame_4: 0.3541, debug_std_frame_5: 0.4114, loss_rl: -0.2656, loss_critic: 1.3648, loss_rl_bc: 0.0036, il_score: 0.6710, rl_score: 0.6952, prev_frame_loss_waypoint_0: 0.1764, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.4734, grad_norm: 32.7748, il_score_sum: 66.9937, rl_score_sum: 68.7910, score_diff: -1.7974, il_win: 76.0000, rl_win: 516.5000
2025-09-24 19:24:03,059 - mmdet - INFO - Epoch [23][3020/3517]	lr: 9.010e-07, eta: 0:53:52, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0263, loss_waypoint: 0.1553, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2182, debug_std_frame_2: 0.2599, debug_std_frame_3: 0.3077, debug_std_frame_4: 0.3562, debug_std_frame_5: 0.4108, loss_rl: -0.2601, loss_critic: 1.4270, loss_rl_bc: 0.0019, il_score: 0.6633, rl_score: 0.6714, prev_frame_loss_waypoint_0: 0.1806, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.5379, grad_norm: 32.7961, il_score_sum: 66.9937, rl_score_sum: 68.7910, score_diff: -1.7974, il_win: 76.0000, rl_win: 516.5000
2025-09-24 19:24:18,973 - mmdet - INFO - Epoch [23][3040/3517]	lr: 9.010e-07, eta: 0:53:36, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1684, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2679, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3689, debug_std_frame_5: 0.4252, loss_rl: -0.2980, loss_critic: 1.2872, loss_rl_bc: 0.0084, il_score: 0.6903, rl_score: 0.7007, prev_frame_loss_waypoint_0: 0.1831, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.3797, grad_norm: 37.0213, il_score_sum: 67.0734, rl_score_sum: 68.8162, score_diff: -1.7427, il_win: 76.0000, rl_win: 517.3500
2025-09-24 19:24:35,355 - mmdet - INFO - Epoch [23][3060/3517]	lr: 9.010e-07, eta: 0:53:20, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1623, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3232, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4356, loss_rl: -0.2381, loss_critic: 1.2295, loss_rl_bc: 0.0055, il_score: 0.6597, rl_score: 0.6850, prev_frame_loss_waypoint_0: 0.1739, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3655, grad_norm: 34.6689, il_score_sum: 67.0734, rl_score_sum: 68.8162, score_diff: -1.7427, il_win: 76.0000, rl_win: 517.3500
2025-09-24 19:24:51,395 - mmdet - INFO - Epoch [23][3080/3517]	lr: 9.010e-07, eta: 0:53:04, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1469, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2173, debug_std_frame_2: 0.2624, debug_std_frame_3: 0.3111, debug_std_frame_4: 0.3592, debug_std_frame_5: 0.4120, loss_rl: -0.3054, loss_critic: 1.1976, loss_rl_bc: 0.0028, il_score: 0.6892, rl_score: 0.6964, prev_frame_loss_waypoint_0: 0.1679, prev_frame_loss_rl_bc_0: 0.0250, loss: 1.2610, grad_norm: 31.1072, il_score_sum: 67.0734, rl_score_sum: 68.8162, score_diff: -1.7427, il_win: 76.0000, rl_win: 517.3500
2025-09-24 19:25:07,364 - mmdet - INFO - Epoch [23][3100/3517]	lr: 9.010e-07, eta: 0:52:48, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1708, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3742, debug_std_frame_5: 0.4282, loss_rl: -0.2678, loss_critic: 1.1386, loss_rl_bc: 0.0060, il_score: 0.6640, rl_score: 0.7013, prev_frame_loss_waypoint_0: 0.1618, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.2368, grad_norm: 40.1292, il_score_sum: 67.0734, rl_score_sum: 68.8162, score_diff: -1.7427, il_win: 76.0000, rl_win: 517.3500
2025-09-24 19:25:23,259 - mmdet - INFO - Epoch [23][3120/3517]	lr: 9.010e-07, eta: 0:52:32, time: 0.795, data_time: 0.011, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1512, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2734, debug_std_frame_3: 0.3241, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4319, loss_rl: -0.2850, loss_critic: 1.4691, loss_rl_bc: 0.0040, il_score: 0.6848, rl_score: 0.6935, prev_frame_loss_waypoint_0: 0.1694, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.5425, grad_norm: 34.0296, il_score_sum: 67.0734, rl_score_sum: 68.8162, score_diff: -1.7427, il_win: 76.0000, rl_win: 517.3500
2025-09-24 19:25:39,431 - mmdet - INFO - Epoch [23][3140/3517]	lr: 9.010e-07, eta: 0:52:16, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1534, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2186, debug_std_frame_2: 0.2682, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3673, debug_std_frame_5: 0.4213, loss_rl: -0.2848, loss_critic: 1.2496, loss_rl_bc: 0.0011, il_score: 0.6648, rl_score: 0.7011, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.3277, grad_norm: 35.0660, il_score_sum: 67.1965, rl_score_sum: 69.0186, score_diff: -1.8221, il_win: 76.0000, rl_win: 518.2500
2025-09-24 19:25:55,424 - mmdet - INFO - Epoch [23][3160/3517]	lr: 9.010e-07, eta: 0:52:00, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1767, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3264, debug_std_frame_4: 0.3793, debug_std_frame_5: 0.4381, loss_rl: -0.2507, loss_critic: 1.4661, loss_rl_bc: 0.0136, il_score: 0.6660, rl_score: 0.6791, prev_frame_loss_waypoint_0: 0.1791, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.6168, grad_norm: 46.7418, il_score_sum: 67.1965, rl_score_sum: 69.0186, score_diff: -1.8221, il_win: 76.0000, rl_win: 518.2500
2025-09-24 19:26:11,375 - mmdet - INFO - Epoch [23][3180/3517]	lr: 9.010e-07, eta: 0:51:43, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1658, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2710, debug_std_frame_3: 0.3237, debug_std_frame_4: 0.3766, debug_std_frame_5: 0.4333, loss_rl: -0.2634, loss_critic: 1.5047, loss_rl_bc: 0.0040, il_score: 0.6672, rl_score: 0.6776, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.6116, grad_norm: 33.6421, il_score_sum: 67.1965, rl_score_sum: 69.0186, score_diff: -1.8221, il_win: 76.0000, rl_win: 518.2500
2025-09-24 19:26:27,155 - mmdet - INFO - Epoch [23][3200/3517]	lr: 9.010e-07, eta: 0:51:27, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1672, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2231, debug_std_frame_2: 0.2745, debug_std_frame_3: 0.3265, debug_std_frame_4: 0.3829, debug_std_frame_5: 0.4420, loss_rl: -0.2640, loss_critic: 1.2348, loss_rl_bc: 0.0055, il_score: 0.6738, rl_score: 0.6985, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0081, loss: 1.3637, grad_norm: 36.0091, il_score_sum: 67.1965, rl_score_sum: 69.0186, score_diff: -1.8221, il_win: 76.0000, rl_win: 518.2500
2025-09-24 19:26:43,137 - mmdet - INFO - Epoch [23][3220/3517]	lr: 9.010e-07, eta: 0:51:11, time: 0.799, data_time: 0.011, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1471, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3146, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4168, loss_rl: -0.3119, loss_critic: 1.5926, loss_rl_bc: -0.0001, il_score: 0.7010, rl_score: 0.7092, prev_frame_loss_waypoint_0: 0.1535, prev_frame_loss_rl_bc_0: -0.0013, loss: 1.6039, grad_norm: 37.9745, il_score_sum: 67.1965, rl_score_sum: 69.0186, score_diff: -1.8221, il_win: 76.0000, rl_win: 518.2500
2025-09-24 19:26:59,236 - mmdet - INFO - Epoch [23][3240/3517]	lr: 9.010e-07, eta: 0:50:55, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1549, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2668, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3651, debug_std_frame_5: 0.4199, loss_rl: -0.2875, loss_critic: 1.2369, loss_rl_bc: 0.0006, il_score: 0.7017, rl_score: 0.7143, prev_frame_loss_waypoint_0: 0.1599, prev_frame_loss_rl_bc_0: -0.0009, loss: 1.2877, grad_norm: 43.3883, il_score_sum: 67.2347, rl_score_sum: 69.0892, score_diff: -1.8545, il_win: 76.0000, rl_win: 519.2000
2025-09-24 19:27:15,168 - mmdet - INFO - Epoch [23][3260/3517]	lr: 9.010e-07, eta: 0:50:39, time: 0.797, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1874, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3709, debug_std_frame_5: 0.4291, loss_rl: -0.2478, loss_critic: 1.3768, loss_rl_bc: 0.0093, il_score: 0.6734, rl_score: 0.6974, prev_frame_loss_waypoint_0: 0.1764, prev_frame_loss_rl_bc_0: 0.0058, loss: 1.5338, grad_norm: 38.6531, il_score_sum: 67.2347, rl_score_sum: 69.0892, score_diff: -1.8545, il_win: 76.0000, rl_win: 519.2000
2025-09-24 19:27:31,142 - mmdet - INFO - Epoch [23][3280/3517]	lr: 9.010e-07, eta: 0:50:23, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1685, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3728, debug_std_frame_5: 0.4263, loss_rl: -0.2681, loss_critic: 1.0444, loss_rl_bc: 0.0071, il_score: 0.6725, rl_score: 0.6817, prev_frame_loss_waypoint_0: 0.1703, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.1504, grad_norm: 40.6817, il_score_sum: 67.2347, rl_score_sum: 69.0892, score_diff: -1.8545, il_win: 76.0000, rl_win: 519.2000
2025-09-24 19:27:47,156 - mmdet - INFO - Epoch [23][3300/3517]	lr: 9.010e-07, eta: 0:50:07, time: 0.801, data_time: 0.011, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1444, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3137, debug_std_frame_4: 0.3625, debug_std_frame_5: 0.4159, loss_rl: -0.2967, loss_critic: 1.3464, loss_rl_bc: 0.0027, il_score: 0.6383, rl_score: 0.6922, prev_frame_loss_waypoint_0: 0.1498, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.3729, grad_norm: 43.7179, il_score_sum: 67.2347, rl_score_sum: 69.0892, score_diff: -1.8545, il_win: 76.0000, rl_win: 519.2000
2025-09-24 19:28:03,117 - mmdet - INFO - Epoch [23][3320/3517]	lr: 9.010e-07, eta: 0:49:51, time: 0.798, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1558, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2724, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3759, debug_std_frame_5: 0.4310, loss_rl: -0.2655, loss_critic: 1.4684, loss_rl_bc: 0.0048, il_score: 0.6708, rl_score: 0.6853, prev_frame_loss_waypoint_0: 0.1724, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.5647, grad_norm: 38.2728, il_score_sum: 67.2347, rl_score_sum: 69.0892, score_diff: -1.8545, il_win: 76.0000, rl_win: 519.2000
2025-09-24 19:28:19,070 - mmdet - INFO - Epoch [23][3340/3517]	lr: 9.010e-07, eta: 0:49:35, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1639, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3189, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4266, loss_rl: -0.2627, loss_critic: 1.5112, loss_rl_bc: 0.0086, il_score: 0.6464, rl_score: 0.6856, prev_frame_loss_waypoint_0: 0.1654, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.6146, grad_norm: 34.7972, il_score_sum: 67.1986, rl_score_sum: 69.1243, score_diff: -1.9257, il_win: 76.0000, rl_win: 520.1500
2025-09-24 19:28:34,978 - mmdet - INFO - Epoch [23][3360/3517]	lr: 9.010e-07, eta: 0:49:18, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1387, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3127, debug_std_frame_4: 0.3619, debug_std_frame_5: 0.4144, loss_rl: -0.2803, loss_critic: 1.4697, loss_rl_bc: 0.0016, il_score: 0.6596, rl_score: 0.7118, prev_frame_loss_waypoint_0: 0.1545, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.5107, grad_norm: 37.9967, il_score_sum: 67.1986, rl_score_sum: 69.1243, score_diff: -1.9257, il_win: 76.0000, rl_win: 520.1500
2025-09-24 19:28:50,927 - mmdet - INFO - Epoch [23][3380/3517]	lr: 9.010e-07, eta: 0:49:02, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1502, debug_std_frame_0: 0.2039, debug_std_frame_1: 0.2172, debug_std_frame_2: 0.2642, debug_std_frame_3: 0.3103, debug_std_frame_4: 0.3604, debug_std_frame_5: 0.4141, loss_rl: -0.2984, loss_critic: 1.1018, loss_rl_bc: 0.0008, il_score: 0.6894, rl_score: 0.7244, prev_frame_loss_waypoint_0: 0.1651, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.1486, grad_norm: 32.9517, il_score_sum: 67.1986, rl_score_sum: 69.1243, score_diff: -1.9257, il_win: 76.0000, rl_win: 520.1500
2025-09-24 19:29:06,833 - mmdet - INFO - Epoch [23][3400/3517]	lr: 9.010e-07, eta: 0:48:46, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1571, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2694, debug_std_frame_3: 0.3179, debug_std_frame_4: 0.3697, debug_std_frame_5: 0.4267, loss_rl: -0.2394, loss_critic: 1.1852, loss_rl_bc: 0.0043, il_score: 0.6545, rl_score: 0.6731, prev_frame_loss_waypoint_0: 0.1817, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.3201, grad_norm: 38.9518, il_score_sum: 67.1986, rl_score_sum: 69.1243, score_diff: -1.9257, il_win: 76.0000, rl_win: 520.1500
2025-09-24 19:29:22,708 - mmdet - INFO - Epoch [23][3420/3517]	lr: 9.010e-07, eta: 0:48:30, time: 0.794, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1690, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3207, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4269, loss_rl: -0.2456, loss_critic: 1.2091, loss_rl_bc: 0.0042, il_score: 0.6674, rl_score: 0.6972, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0062, loss: 1.3399, grad_norm: 38.1686, il_score_sum: 67.1986, rl_score_sum: 69.1243, score_diff: -1.9257, il_win: 76.0000, rl_win: 520.1500
2025-09-24 19:29:38,678 - mmdet - INFO - Epoch [23][3440/3517]	lr: 9.010e-07, eta: 0:48:14, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1487, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2175, debug_std_frame_2: 0.2640, debug_std_frame_3: 0.3145, debug_std_frame_4: 0.3659, debug_std_frame_5: 0.4252, loss_rl: -0.3054, loss_critic: 1.3639, loss_rl_bc: 0.0037, il_score: 0.7114, rl_score: 0.6967, prev_frame_loss_waypoint_0: 0.1819, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.4275, grad_norm: 35.0091, il_score_sum: 67.2080, rl_score_sum: 69.1282, score_diff: -1.9202, il_win: 76.0000, rl_win: 521.1000
2025-09-24 19:29:54,834 - mmdet - INFO - Epoch [23][3460/3517]	lr: 9.010e-07, eta: 0:47:58, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1518, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3230, debug_std_frame_4: 0.3762, debug_std_frame_5: 0.4347, loss_rl: -0.2733, loss_critic: 1.2444, loss_rl_bc: 0.0002, il_score: 0.6639, rl_score: 0.6973, prev_frame_loss_waypoint_0: 0.1692, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.3248, grad_norm: 36.0035, il_score_sum: 67.2080, rl_score_sum: 69.1282, score_diff: -1.9202, il_win: 76.0000, rl_win: 521.1000
2025-09-24 19:30:10,983 - mmdet - INFO - Epoch [23][3480/3517]	lr: 9.010e-07, eta: 0:47:42, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1543, debug_std_frame_0: 0.2085, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2626, debug_std_frame_3: 0.3065, debug_std_frame_4: 0.3573, debug_std_frame_5: 0.4128, loss_rl: -0.2739, loss_critic: 1.4352, loss_rl_bc: 0.0030, il_score: 0.6813, rl_score: 0.6880, prev_frame_loss_waypoint_0: 0.1632, prev_frame_loss_rl_bc_0: 0.0009, loss: 1.5069, grad_norm: 35.9765, il_score_sum: 67.2080, rl_score_sum: 69.1282, score_diff: -1.9202, il_win: 76.0000, rl_win: 521.1000
2025-09-24 19:30:26,952 - mmdet - INFO - Epoch [23][3500/3517]	lr: 9.010e-07, eta: 0:47:26, time: 0.798, data_time: 0.011, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1601, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2640, debug_std_frame_3: 0.3109, debug_std_frame_4: 0.3601, debug_std_frame_5: 0.4163, loss_rl: -0.2618, loss_critic: 1.2796, loss_rl_bc: 0.0030, il_score: 0.6873, rl_score: 0.6995, prev_frame_loss_waypoint_0: 0.1635, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.3703, grad_norm: 42.0505, il_score_sum: 67.2080, rl_score_sum: 69.1282, score_diff: -1.9202, il_win: 76.0000, rl_win: 521.1000
2025-09-24 19:30:39,974 - mmdet - INFO - Saving checkpoint at 23 epochs
2025-09-24 19:33:17,378 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 19:33:17,378 - mmdet - INFO - Epoch(val) [23][753]	plan_L2_1s: 0.2927, plan_L2_2s: 0.5927, plan_L2_3s: 1.0068, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0019, plan_obj_box_col_2s: 0.0018, plan_obj_box_col_3s: 0.0046, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.2931, plan_L2_2s_rl_actor: 0.5987, plan_L2_3s_rl_actor: 1.0196, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0074, plan_obj_box_col_2s_rl_actor: 0.0081, plan_obj_box_col_3s_rl_actor: 0.0109, fut_valid_flag_rl_actor: 1.0000
2025-09-24 19:33:42,166 - mmdet - INFO - Epoch [24][20/3517]	lr: 2.637e-07, eta: 0:46:56, time: 1.238, data_time: 0.346, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1658, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3190, debug_std_frame_4: 0.3690, debug_std_frame_5: 0.4242, loss_rl: -0.2913, loss_critic: 1.2282, loss_rl_bc: 0.0054, il_score: 0.6705, rl_score: 0.6898, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.3211, grad_norm: 36.1623, il_score_sum: 67.9670, rl_score_sum: 69.2841, score_diff: -1.3171, il_win: 76.0000, rl_win: 531.0000
2025-09-24 19:33:58,603 - mmdet - INFO - Epoch [24][40/3517]	lr: 2.637e-07, eta: 0:46:40, time: 0.822, data_time: 0.015, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1630, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2732, debug_std_frame_3: 0.3269, debug_std_frame_4: 0.3800, debug_std_frame_5: 0.4385, loss_rl: -0.2328, loss_critic: 1.5050, loss_rl_bc: 0.0059, il_score: 0.6424, rl_score: 0.6568, prev_frame_loss_waypoint_0: 0.1626, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.6319, grad_norm: 40.3925, il_score_sum: 67.9670, rl_score_sum: 69.2841, score_diff: -1.3171, il_win: 76.0000, rl_win: 531.0000
2025-09-24 19:34:15,054 - mmdet - INFO - Epoch [24][60/3517]	lr: 2.637e-07, eta: 0:46:23, time: 0.822, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1601, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3263, debug_std_frame_4: 0.3796, debug_std_frame_5: 0.4399, loss_rl: -0.3012, loss_critic: 1.2333, loss_rl_bc: 0.0068, il_score: 0.6809, rl_score: 0.6950, prev_frame_loss_waypoint_0: 0.1795, prev_frame_loss_rl_bc_0: 0.0084, loss: 1.3124, grad_norm: 38.5901, il_score_sum: 67.9670, rl_score_sum: 69.2841, score_diff: -1.3171, il_win: 76.0000, rl_win: 531.0000
2025-09-24 19:34:31,462 - mmdet - INFO - Epoch [24][80/3517]	lr: 2.637e-07, eta: 0:46:07, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1526, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2196, debug_std_frame_2: 0.2627, debug_std_frame_3: 0.3071, debug_std_frame_4: 0.3551, debug_std_frame_5: 0.4078, loss_rl: -0.2766, loss_critic: 1.1190, loss_rl_bc: 0.0019, il_score: 0.6832, rl_score: 0.6953, prev_frame_loss_waypoint_0: 0.1527, prev_frame_loss_rl_bc_0: -0.0021, loss: 1.1727, grad_norm: 36.1392, il_score_sum: 67.9670, rl_score_sum: 69.2841, score_diff: -1.3171, il_win: 76.0000, rl_win: 531.0000
2025-09-24 19:34:47,758 - mmdet - INFO - Epoch [24][100/3517]	lr: 2.637e-07, eta: 0:45:51, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1564, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2196, debug_std_frame_2: 0.2683, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3672, debug_std_frame_5: 0.4212, loss_rl: -0.2875, loss_critic: 1.2560, loss_rl_bc: 0.0010, il_score: 0.6734, rl_score: 0.6881, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.3289, grad_norm: 38.3925, il_score_sum: 67.9670, rl_score_sum: 69.2841, score_diff: -1.3171, il_win: 76.0000, rl_win: 531.0000
2025-09-24 19:35:04,153 - mmdet - INFO - Epoch [24][120/3517]	lr: 2.637e-07, eta: 0:45:35, time: 0.820, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1972, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2744, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3808, debug_std_frame_5: 0.4397, loss_rl: -0.2568, loss_critic: 1.3299, loss_rl_bc: 0.0135, il_score: 0.6375, rl_score: 0.6765, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.5083, grad_norm: 39.6570, il_score_sum: 67.1745, rl_score_sum: 68.8370, score_diff: -1.6624, il_win: 76.0000, rl_win: 531.5000
2025-09-24 19:35:20,416 - mmdet - INFO - Epoch [24][140/3517]	lr: 2.637e-07, eta: 0:45:19, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1552, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3185, debug_std_frame_4: 0.3692, debug_std_frame_5: 0.4223, loss_rl: -0.2477, loss_critic: 1.3377, loss_rl_bc: 0.0048, il_score: 0.6608, rl_score: 0.6835, prev_frame_loss_waypoint_0: 0.1587, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.4350, grad_norm: 35.4957, il_score_sum: 67.1745, rl_score_sum: 68.8370, score_diff: -1.6624, il_win: 76.0000, rl_win: 531.5000
2025-09-24 19:35:36,656 - mmdet - INFO - Epoch [24][160/3517]	lr: 2.637e-07, eta: 0:45:03, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1538, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2665, debug_std_frame_3: 0.3137, debug_std_frame_4: 0.3628, debug_std_frame_5: 0.4182, loss_rl: -0.3074, loss_critic: 1.0448, loss_rl_bc: 0.0021, il_score: 0.7255, rl_score: 0.7373, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.1002, grad_norm: 39.1795, il_score_sum: 67.1745, rl_score_sum: 68.8370, score_diff: -1.6624, il_win: 76.0000, rl_win: 531.5000
2025-09-24 19:35:53,113 - mmdet - INFO - Epoch [24][180/3517]	lr: 2.637e-07, eta: 0:44:47, time: 0.823, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1741, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3178, debug_std_frame_4: 0.3669, debug_std_frame_5: 0.4204, loss_rl: -0.2910, loss_critic: 1.4997, loss_rl_bc: 0.0084, il_score: 0.6733, rl_score: 0.6924, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.5977, grad_norm: 40.4653, il_score_sum: 67.1745, rl_score_sum: 68.8370, score_diff: -1.6624, il_win: 76.0000, rl_win: 531.5000
2025-09-24 19:36:09,240 - mmdet - INFO - Epoch [24][200/3517]	lr: 2.637e-07, eta: 0:44:31, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1791, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2738, debug_std_frame_3: 0.3253, debug_std_frame_4: 0.3770, debug_std_frame_5: 0.4339, loss_rl: -0.2513, loss_critic: 1.5138, loss_rl_bc: 0.0084, il_score: 0.6356, rl_score: 0.6499, prev_frame_loss_waypoint_0: 0.1757, prev_frame_loss_rl_bc_0: 0.0108, loss: 1.6629, grad_norm: 34.6235, il_score_sum: 67.1745, rl_score_sum: 68.8370, score_diff: -1.6624, il_win: 76.0000, rl_win: 531.5000
2025-09-24 19:36:25,745 - mmdet - INFO - Epoch [24][220/3517]	lr: 2.637e-07, eta: 0:44:15, time: 0.828, data_time: 0.018, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1469, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2640, debug_std_frame_3: 0.3121, debug_std_frame_4: 0.3609, debug_std_frame_5: 0.4156, loss_rl: -0.2832, loss_critic: 1.4641, loss_rl_bc: 0.0017, il_score: 0.6603, rl_score: 0.6767, prev_frame_loss_waypoint_0: 0.1576, prev_frame_loss_rl_bc_0: 0.0013, loss: 1.5131, grad_norm: 37.4928, il_score_sum: 67.1479, rl_score_sum: 68.7075, score_diff: -1.5597, il_win: 76.0000, rl_win: 532.0000
2025-09-24 19:36:42,047 - mmdet - INFO - Epoch [24][240/3517]	lr: 2.637e-07, eta: 0:43:59, time: 0.815, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1761, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2711, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4311, loss_rl: -0.2377, loss_critic: 1.2017, loss_rl_bc: 0.0118, il_score: 0.6584, rl_score: 0.6858, prev_frame_loss_waypoint_0: 0.1872, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3712, grad_norm: 32.2895, il_score_sum: 67.1479, rl_score_sum: 68.7075, score_diff: -1.5597, il_win: 76.0000, rl_win: 532.0000
2025-09-24 19:36:58,129 - mmdet - INFO - Epoch [24][260/3517]	lr: 2.637e-07, eta: 0:43:42, time: 0.804, data_time: 0.015, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1627, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2641, debug_std_frame_3: 0.3092, debug_std_frame_4: 0.3577, debug_std_frame_5: 0.4101, loss_rl: -0.2968, loss_critic: 1.4623, loss_rl_bc: 0.0110, il_score: 0.6887, rl_score: 0.6790, prev_frame_loss_waypoint_0: 0.1505, prev_frame_loss_rl_bc_0: -0.0019, loss: 1.5130, grad_norm: 35.0812, il_score_sum: 67.1479, rl_score_sum: 68.7075, score_diff: -1.5597, il_win: 76.0000, rl_win: 532.0000
2025-09-24 19:37:14,235 - mmdet - INFO - Epoch [24][280/3517]	lr: 2.637e-07, eta: 0:43:26, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1517, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2736, debug_std_frame_3: 0.3251, debug_std_frame_4: 0.3776, debug_std_frame_5: 0.4350, loss_rl: -0.2654, loss_critic: 1.4740, loss_rl_bc: 0.0018, il_score: 0.6593, rl_score: 0.6736, prev_frame_loss_waypoint_0: 0.1801, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.5732, grad_norm: 36.0489, il_score_sum: 67.1479, rl_score_sum: 68.7075, score_diff: -1.5597, il_win: 76.0000, rl_win: 532.0000
2025-09-24 19:37:30,333 - mmdet - INFO - Epoch [24][300/3517]	lr: 2.637e-07, eta: 0:43:10, time: 0.805, data_time: 0.015, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1406, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2244, debug_std_frame_2: 0.2706, debug_std_frame_3: 0.3188, debug_std_frame_4: 0.3691, debug_std_frame_5: 0.4223, loss_rl: -0.3052, loss_critic: 1.4232, loss_rl_bc: -0.0010, il_score: 0.6876, rl_score: 0.6978, prev_frame_loss_waypoint_0: 0.1636, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.4499, grad_norm: 38.2420, il_score_sum: 67.1479, rl_score_sum: 68.7075, score_diff: -1.5597, il_win: 76.0000, rl_win: 532.0000
2025-09-24 19:37:46,601 - mmdet - INFO - Epoch [24][320/3517]	lr: 2.637e-07, eta: 0:42:54, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1730, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3184, debug_std_frame_4: 0.3708, debug_std_frame_5: 0.4253, loss_rl: -0.2222, loss_critic: 1.0569, loss_rl_bc: 0.0058, il_score: 0.6760, rl_score: 0.6750, prev_frame_loss_waypoint_0: 0.1842, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.2298, grad_norm: 39.3315, il_score_sum: 67.2607, rl_score_sum: 68.7364, score_diff: -1.4757, il_win: 76.0000, rl_win: 532.5000
2025-09-24 19:38:02,964 - mmdet - INFO - Epoch [24][340/3517]	lr: 2.637e-07, eta: 0:42:38, time: 0.818, data_time: 0.016, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1556, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2207, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3206, debug_std_frame_4: 0.3703, debug_std_frame_5: 0.4259, loss_rl: -0.2817, loss_critic: 1.4864, loss_rl_bc: 0.0033, il_score: 0.6680, rl_score: 0.7046, prev_frame_loss_waypoint_0: 0.1728, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5653, grad_norm: 43.8008, il_score_sum: 67.2607, rl_score_sum: 68.7364, score_diff: -1.4757, il_win: 76.0000, rl_win: 532.5000
2025-09-24 19:38:19,003 - mmdet - INFO - Epoch [24][360/3517]	lr: 2.637e-07, eta: 0:42:22, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1489, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2659, debug_std_frame_3: 0.3111, debug_std_frame_4: 0.3591, debug_std_frame_5: 0.4114, loss_rl: -0.3081, loss_critic: 1.1895, loss_rl_bc: 0.0007, il_score: 0.7125, rl_score: 0.7070, prev_frame_loss_waypoint_0: 0.1671, prev_frame_loss_rl_bc_0: 0.0018, loss: 1.2248, grad_norm: 35.2297, il_score_sum: 67.2607, rl_score_sum: 68.7364, score_diff: -1.4757, il_win: 76.0000, rl_win: 532.5000
2025-09-24 19:38:35,102 - mmdet - INFO - Epoch [24][380/3517]	lr: 2.637e-07, eta: 0:42:06, time: 0.805, data_time: 0.015, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1547, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3754, debug_std_frame_5: 0.4313, loss_rl: -0.3003, loss_critic: 1.4401, loss_rl_bc: 0.0021, il_score: 0.6447, rl_score: 0.6789, prev_frame_loss_waypoint_0: 0.1806, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.5089, grad_norm: 35.4388, il_score_sum: 67.2607, rl_score_sum: 68.7364, score_diff: -1.4757, il_win: 76.0000, rl_win: 532.5000
2025-09-24 19:38:51,158 - mmdet - INFO - Epoch [24][400/3517]	lr: 2.637e-07, eta: 0:41:50, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1558, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3156, debug_std_frame_4: 0.3661, debug_std_frame_5: 0.4219, loss_rl: -0.2541, loss_critic: 1.4104, loss_rl_bc: 0.0060, il_score: 0.6687, rl_score: 0.6809, prev_frame_loss_waypoint_0: 0.1518, prev_frame_loss_rl_bc_0: -0.0000, loss: 1.4956, grad_norm: 38.9290, il_score_sum: 67.2607, rl_score_sum: 68.7364, score_diff: -1.4757, il_win: 76.0000, rl_win: 532.5000
2025-09-24 19:39:07,386 - mmdet - INFO - Epoch [24][420/3517]	lr: 2.637e-07, eta: 0:41:34, time: 0.811, data_time: 0.015, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1532, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2679, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3643, debug_std_frame_5: 0.4180, loss_rl: -0.2738, loss_critic: 1.6291, loss_rl_bc: 0.0042, il_score: 0.6905, rl_score: 0.6921, prev_frame_loss_waypoint_0: 0.1753, prev_frame_loss_rl_bc_0: 0.0046, loss: 1.7185, grad_norm: 35.7066, il_score_sum: 67.3033, rl_score_sum: 68.7862, score_diff: -1.4829, il_win: 76.0000, rl_win: 533.0000
2025-09-24 19:39:23,415 - mmdet - INFO - Epoch [24][440/3517]	lr: 2.637e-07, eta: 0:41:17, time: 0.802, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1490, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2714, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3723, debug_std_frame_5: 0.4279, loss_rl: -0.2372, loss_critic: 1.3648, loss_rl_bc: -0.0008, il_score: 0.6589, rl_score: 0.6830, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.4750, grad_norm: 38.1900, il_score_sum: 67.3033, rl_score_sum: 68.7862, score_diff: -1.4829, il_win: 76.0000, rl_win: 533.0000
2025-09-24 19:39:39,545 - mmdet - INFO - Epoch [24][460/3517]	lr: 2.637e-07, eta: 0:41:01, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1679, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2756, debug_std_frame_3: 0.3279, debug_std_frame_4: 0.3814, debug_std_frame_5: 0.4414, loss_rl: -0.2701, loss_critic: 1.0472, loss_rl_bc: 0.0023, il_score: 0.6758, rl_score: 0.7194, prev_frame_loss_waypoint_0: 0.1954, prev_frame_loss_rl_bc_0: 0.0097, loss: 1.1782, grad_norm: 32.9458, il_score_sum: 67.3033, rl_score_sum: 68.7862, score_diff: -1.4829, il_win: 76.0000, rl_win: 533.0000
2025-09-24 19:39:55,628 - mmdet - INFO - Epoch [24][480/3517]	lr: 2.637e-07, eta: 0:40:45, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1544, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2716, debug_std_frame_3: 0.3234, debug_std_frame_4: 0.3748, debug_std_frame_5: 0.4299, loss_rl: -0.2717, loss_critic: 1.5754, loss_rl_bc: 0.0019, il_score: 0.6585, rl_score: 0.6753, prev_frame_loss_waypoint_0: 0.1656, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.6589, grad_norm: 37.2495, il_score_sum: 67.3033, rl_score_sum: 68.7862, score_diff: -1.4829, il_win: 76.0000, rl_win: 533.0000
2025-09-24 19:40:11,740 - mmdet - INFO - Epoch [24][500/3517]	lr: 2.637e-07, eta: 0:40:29, time: 0.806, data_time: 0.015, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1596, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2195, debug_std_frame_2: 0.2704, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4340, loss_rl: -0.2599, loss_critic: 1.3610, loss_rl_bc: 0.0036, il_score: 0.6954, rl_score: 0.7074, prev_frame_loss_waypoint_0: 0.1850, prev_frame_loss_rl_bc_0: 0.0088, loss: 1.4842, grad_norm: 35.6800, il_score_sum: 67.3033, rl_score_sum: 68.7862, score_diff: -1.4829, il_win: 76.0000, rl_win: 533.0000
2025-09-24 19:40:27,957 - mmdet - INFO - Epoch [24][520/3517]	lr: 2.637e-07, eta: 0:40:13, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1723, debug_std_frame_0: 0.2087, debug_std_frame_1: 0.2266, debug_std_frame_2: 0.2784, debug_std_frame_3: 0.3307, debug_std_frame_4: 0.3866, debug_std_frame_5: 0.4440, loss_rl: -0.2700, loss_critic: 1.2694, loss_rl_bc: 0.0066, il_score: 0.6592, rl_score: 0.6839, prev_frame_loss_waypoint_0: 0.1752, prev_frame_loss_rl_bc_0: 0.0060, loss: 1.3852, grad_norm: 37.8393, il_score_sum: 67.2867, rl_score_sum: 68.9034, score_diff: -1.6167, il_win: 76.0000, rl_win: 533.5000
2025-09-24 19:40:43,970 - mmdet - INFO - Epoch [24][540/3517]	lr: 2.637e-07, eta: 0:39:57, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1668, debug_std_frame_0: 0.2073, debug_std_frame_1: 0.2247, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3231, debug_std_frame_4: 0.3775, debug_std_frame_5: 0.4343, loss_rl: -0.2545, loss_critic: 1.4646, loss_rl_bc: 0.0035, il_score: 0.6708, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1721, prev_frame_loss_rl_bc_0: 0.0029, loss: 1.5797, grad_norm: 40.0613, il_score_sum: 67.2867, rl_score_sum: 68.9034, score_diff: -1.6167, il_win: 76.0000, rl_win: 533.5000
2025-09-24 19:41:00,177 - mmdet - INFO - Epoch [24][560/3517]	lr: 2.637e-07, eta: 0:39:41, time: 0.810, data_time: 0.015, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1483, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3145, debug_std_frame_4: 0.3613, debug_std_frame_5: 0.4135, loss_rl: -0.2909, loss_critic: 1.5185, loss_rl_bc: 0.0019, il_score: 0.6948, rl_score: 0.7063, prev_frame_loss_waypoint_0: 0.1647, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.5717, grad_norm: 35.5580, il_score_sum: 67.2867, rl_score_sum: 68.9034, score_diff: -1.6167, il_win: 76.0000, rl_win: 533.5000
2025-09-24 19:41:16,302 - mmdet - INFO - Epoch [24][580/3517]	lr: 2.637e-07, eta: 0:39:25, time: 0.806, data_time: 0.015, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1490, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2635, debug_std_frame_3: 0.3125, debug_std_frame_4: 0.3614, debug_std_frame_5: 0.4134, loss_rl: -0.2993, loss_critic: 1.3268, loss_rl_bc: 0.0031, il_score: 0.6753, rl_score: 0.6998, prev_frame_loss_waypoint_0: 0.1713, prev_frame_loss_rl_bc_0: 0.0068, loss: 1.3842, grad_norm: 41.4913, il_score_sum: 67.2867, rl_score_sum: 68.9034, score_diff: -1.6167, il_win: 76.0000, rl_win: 533.5000
2025-09-24 19:41:32,288 - mmdet - INFO - Epoch [24][600/3517]	lr: 2.637e-07, eta: 0:39:09, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1519, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2722, debug_std_frame_3: 0.3225, debug_std_frame_4: 0.3744, debug_std_frame_5: 0.4293, loss_rl: -0.2597, loss_critic: 1.5551, loss_rl_bc: 0.0014, il_score: 0.6373, rl_score: 0.6495, prev_frame_loss_waypoint_0: 0.1710, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.6510, grad_norm: 33.4474, il_score_sum: 67.2867, rl_score_sum: 68.9034, score_diff: -1.6167, il_win: 76.0000, rl_win: 533.5000
2025-09-24 19:41:48,502 - mmdet - INFO - Epoch [24][620/3517]	lr: 2.637e-07, eta: 0:38:53, time: 0.811, data_time: 0.015, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1602, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2691, debug_std_frame_3: 0.3188, debug_std_frame_4: 0.3701, debug_std_frame_5: 0.4251, loss_rl: -0.2777, loss_critic: 1.3926, loss_rl_bc: 0.0050, il_score: 0.6925, rl_score: 0.6900, prev_frame_loss_waypoint_0: 0.1853, prev_frame_loss_rl_bc_0: 0.0092, loss: 1.4995, grad_norm: 33.2174, il_score_sum: 67.2816, rl_score_sum: 68.8827, score_diff: -1.6011, il_win: 76.0000, rl_win: 534.0000
2025-09-24 19:42:04,705 - mmdet - INFO - Epoch [24][640/3517]	lr: 2.637e-07, eta: 0:38:36, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1671, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3181, debug_std_frame_4: 0.3688, debug_std_frame_5: 0.4239, loss_rl: -0.2676, loss_critic: 1.3124, loss_rl_bc: 0.0073, il_score: 0.6667, rl_score: 0.6781, prev_frame_loss_waypoint_0: 0.1673, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.4187, grad_norm: 35.5401, il_score_sum: 67.2816, rl_score_sum: 68.8827, score_diff: -1.6011, il_win: 76.0000, rl_win: 534.0000
2025-09-24 19:42:20,908 - mmdet - INFO - Epoch [24][660/3517]	lr: 2.637e-07, eta: 0:38:20, time: 0.810, data_time: 0.014, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1590, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3226, debug_std_frame_4: 0.3712, debug_std_frame_5: 0.4269, loss_rl: -0.2861, loss_critic: 1.3749, loss_rl_bc: 0.0037, il_score: 0.6702, rl_score: 0.6847, prev_frame_loss_waypoint_0: 0.1812, prev_frame_loss_rl_bc_0: 0.0082, loss: 1.4669, grad_norm: 44.6391, il_score_sum: 67.2816, rl_score_sum: 68.8827, score_diff: -1.6011, il_win: 76.0000, rl_win: 534.0000
2025-09-24 19:42:36,801 - mmdet - INFO - Epoch [24][680/3517]	lr: 2.637e-07, eta: 0:38:04, time: 0.795, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1587, debug_std_frame_0: 0.2041, debug_std_frame_1: 0.2190, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3209, debug_std_frame_4: 0.3745, debug_std_frame_5: 0.4311, loss_rl: -0.2632, loss_critic: 1.6651, loss_rl_bc: 0.0040, il_score: 0.6673, rl_score: 0.6763, prev_frame_loss_waypoint_0: 0.1751, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.7732, grad_norm: 35.8877, il_score_sum: 67.2816, rl_score_sum: 68.8827, score_diff: -1.6011, il_win: 76.0000, rl_win: 534.0000
2025-09-24 19:42:52,790 - mmdet - INFO - Epoch [24][700/3517]	lr: 2.637e-07, eta: 0:37:48, time: 0.799, data_time: 0.015, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1425, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2636, debug_std_frame_3: 0.3071, debug_std_frame_4: 0.3560, debug_std_frame_5: 0.4092, loss_rl: -0.3384, loss_critic: 1.2728, loss_rl_bc: -0.0005, il_score: 0.6681, rl_score: 0.7234, prev_frame_loss_waypoint_0: 0.1462, prev_frame_loss_rl_bc_0: -0.0025, loss: 1.2451, grad_norm: 37.2722, il_score_sum: 67.2816, rl_score_sum: 68.8827, score_diff: -1.6011, il_win: 76.0000, rl_win: 534.0000
2025-09-24 19:43:09,028 - mmdet - INFO - Epoch [24][720/3517]	lr: 2.637e-07, eta: 0:37:32, time: 0.812, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1667, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3664, debug_std_frame_5: 0.4255, loss_rl: -0.2665, loss_critic: 1.3000, loss_rl_bc: 0.0060, il_score: 0.6667, rl_score: 0.6886, prev_frame_loss_waypoint_0: 0.1596, prev_frame_loss_rl_bc_0: 0.0037, loss: 1.3950, grad_norm: 37.3125, il_score_sum: 67.2454, rl_score_sum: 68.8887, score_diff: -1.6433, il_win: 76.0000, rl_win: 534.5000
2025-09-24 19:43:25,011 - mmdet - INFO - Epoch [24][740/3517]	lr: 2.637e-07, eta: 0:37:16, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1715, debug_std_frame_0: 0.2044, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2676, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3700, debug_std_frame_5: 0.4254, loss_rl: -0.2915, loss_critic: 1.4230, loss_rl_bc: 0.0069, il_score: 0.6570, rl_score: 0.7030, prev_frame_loss_waypoint_0: 0.1802, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.5184, grad_norm: 38.3604, il_score_sum: 67.2454, rl_score_sum: 68.8887, score_diff: -1.6433, il_win: 76.0000, rl_win: 534.5000
2025-09-24 19:43:41,097 - mmdet - INFO - Epoch [24][760/3517]	lr: 2.637e-07, eta: 0:37:00, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1746, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2688, debug_std_frame_3: 0.3178, debug_std_frame_4: 0.3712, debug_std_frame_5: 0.4285, loss_rl: -0.2646, loss_critic: 1.0915, loss_rl_bc: 0.0062, il_score: 0.6998, rl_score: 0.7083, prev_frame_loss_waypoint_0: 0.1981, prev_frame_loss_rl_bc_0: 0.0098, loss: 1.2416, grad_norm: 39.3865, il_score_sum: 67.2454, rl_score_sum: 68.8887, score_diff: -1.6433, il_win: 76.0000, rl_win: 534.5000
2025-09-24 19:43:57,347 - mmdet - INFO - Epoch [24][780/3517]	lr: 2.637e-07, eta: 0:36:44, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1492, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3189, debug_std_frame_4: 0.3692, debug_std_frame_5: 0.4228, loss_rl: -0.2882, loss_critic: 1.2221, loss_rl_bc: 0.0017, il_score: 0.6889, rl_score: 0.7034, prev_frame_loss_waypoint_0: 0.1697, prev_frame_loss_rl_bc_0: 0.0034, loss: 1.2830, grad_norm: 34.1478, il_score_sum: 67.2454, rl_score_sum: 68.8887, score_diff: -1.6433, il_win: 76.0000, rl_win: 534.5000
2025-09-24 19:44:13,436 - mmdet - INFO - Epoch [24][800/3517]	lr: 2.637e-07, eta: 0:36:28, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1616, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2708, debug_std_frame_3: 0.3213, debug_std_frame_4: 0.3731, debug_std_frame_5: 0.4339, loss_rl: -0.2445, loss_critic: 1.2143, loss_rl_bc: 0.0037, il_score: 0.6547, rl_score: 0.6812, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0078, loss: 1.3458, grad_norm: 42.1348, il_score_sum: 67.2454, rl_score_sum: 68.8887, score_diff: -1.6433, il_win: 76.0000, rl_win: 534.5000
2025-09-24 19:44:29,669 - mmdet - INFO - Epoch [24][820/3517]	lr: 2.637e-07, eta: 0:36:11, time: 0.812, data_time: 0.015, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1530, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3152, debug_std_frame_4: 0.3654, debug_std_frame_5: 0.4207, loss_rl: -0.3008, loss_critic: 1.2880, loss_rl_bc: 0.0011, il_score: 0.6993, rl_score: 0.7170, prev_frame_loss_waypoint_0: 0.1723, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.3411, grad_norm: 39.8462, il_score_sum: 67.2815, rl_score_sum: 68.9933, score_diff: -1.7119, il_win: 76.0000, rl_win: 535.0000
2025-09-24 19:44:45,584 - mmdet - INFO - Epoch [24][840/3517]	lr: 2.637e-07, eta: 0:35:55, time: 0.795, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1534, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3212, debug_std_frame_4: 0.3731, debug_std_frame_5: 0.4282, loss_rl: -0.2605, loss_critic: 1.4475, loss_rl_bc: 0.0014, il_score: 0.6618, rl_score: 0.6662, prev_frame_loss_waypoint_0: 0.1720, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.5432, grad_norm: 37.6536, il_score_sum: 67.2815, rl_score_sum: 68.9933, score_diff: -1.7119, il_win: 76.0000, rl_win: 535.0000
2025-09-24 19:45:01,701 - mmdet - INFO - Epoch [24][860/3517]	lr: 2.637e-07, eta: 0:35:39, time: 0.806, data_time: 0.014, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1668, debug_std_frame_0: 0.2088, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2752, debug_std_frame_3: 0.3255, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4322, loss_rl: -0.2688, loss_critic: 1.3745, loss_rl_bc: 0.0068, il_score: 0.6542, rl_score: 0.6822, prev_frame_loss_waypoint_0: 0.1744, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.4838, grad_norm: 45.5444, il_score_sum: 67.2815, rl_score_sum: 68.9933, score_diff: -1.7119, il_win: 76.0000, rl_win: 535.0000
2025-09-24 19:45:17,770 - mmdet - INFO - Epoch [24][880/3517]	lr: 2.637e-07, eta: 0:35:23, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1672, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2716, debug_std_frame_3: 0.3202, debug_std_frame_4: 0.3721, debug_std_frame_5: 0.4256, loss_rl: -0.2622, loss_critic: 1.5243, loss_rl_bc: 0.0056, il_score: 0.6479, rl_score: 0.6760, prev_frame_loss_waypoint_0: 0.1684, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.6324, grad_norm: 39.3633, il_score_sum: 67.2815, rl_score_sum: 68.9933, score_diff: -1.7119, il_win: 76.0000, rl_win: 535.0000
2025-09-24 19:45:33,774 - mmdet - INFO - Epoch [24][900/3517]	lr: 2.637e-07, eta: 0:35:07, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1731, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2226, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3260, debug_std_frame_4: 0.3812, debug_std_frame_5: 0.4389, loss_rl: -0.2313, loss_critic: 1.2615, loss_rl_bc: 0.0087, il_score: 0.6574, rl_score: 0.6587, prev_frame_loss_waypoint_0: 0.1733, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.4141, grad_norm: 36.4469, il_score_sum: 67.2815, rl_score_sum: 68.9933, score_diff: -1.7119, il_win: 76.0000, rl_win: 535.0000
2025-09-24 19:45:50,040 - mmdet - INFO - Epoch [24][920/3517]	lr: 2.637e-07, eta: 0:34:51, time: 0.813, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1643, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2232, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3230, debug_std_frame_4: 0.3730, debug_std_frame_5: 0.4301, loss_rl: -0.3022, loss_critic: 1.0133, loss_rl_bc: 0.0052, il_score: 0.6966, rl_score: 0.7216, prev_frame_loss_waypoint_0: 0.1738, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.0822, grad_norm: 39.4433, il_score_sum: 67.1685, rl_score_sum: 68.8772, score_diff: -1.7087, il_win: 76.0000, rl_win: 535.5000
2025-09-24 19:46:05,964 - mmdet - INFO - Epoch [24][940/3517]	lr: 2.637e-07, eta: 0:34:35, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1633, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3660, debug_std_frame_5: 0.4143, loss_rl: -0.2683, loss_critic: 1.3519, loss_rl_bc: 0.0055, il_score: 0.6868, rl_score: 0.7030, prev_frame_loss_waypoint_0: 0.1745, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.4584, grad_norm: 32.2151, il_score_sum: 67.1685, rl_score_sum: 68.8772, score_diff: -1.7087, il_win: 76.0000, rl_win: 535.5000
2025-09-24 19:46:22,133 - mmdet - INFO - Epoch [24][960/3517]	lr: 2.637e-07, eta: 0:34:19, time: 0.809, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1592, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2258, debug_std_frame_2: 0.2757, debug_std_frame_3: 0.3283, debug_std_frame_4: 0.3836, debug_std_frame_5: 0.4431, loss_rl: -0.2804, loss_critic: 1.2476, loss_rl_bc: 0.0020, il_score: 0.6642, rl_score: 0.6995, prev_frame_loss_waypoint_0: 0.1793, prev_frame_loss_rl_bc_0: 0.0280, loss: 1.3613, grad_norm: 35.2977, il_score_sum: 67.1685, rl_score_sum: 68.8772, score_diff: -1.7087, il_win: 76.0000, rl_win: 535.5000
2025-09-24 19:46:38,448 - mmdet - INFO - Epoch [24][980/3517]	lr: 2.637e-07, eta: 0:34:03, time: 0.816, data_time: 0.014, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1576, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2688, debug_std_frame_3: 0.3207, debug_std_frame_4: 0.3738, debug_std_frame_5: 0.4307, loss_rl: -0.2778, loss_critic: 1.4332, loss_rl_bc: 0.0096, il_score: 0.6700, rl_score: 0.6754, prev_frame_loss_waypoint_0: 0.1602, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.5106, grad_norm: 29.0490, il_score_sum: 67.1685, rl_score_sum: 68.8772, score_diff: -1.7087, il_win: 76.0000, rl_win: 535.5000
2025-09-24 19:46:54,399 - mmdet - INFO - Epoch [24][1000/3517]	lr: 2.637e-07, eta: 0:33:47, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1682, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4323, loss_rl: -0.2646, loss_critic: 1.2656, loss_rl_bc: 0.0075, il_score: 0.6476, rl_score: 0.6809, prev_frame_loss_waypoint_0: 0.1919, prev_frame_loss_rl_bc_0: 0.0117, loss: 1.4064, grad_norm: 35.4864, il_score_sum: 67.1685, rl_score_sum: 68.8772, score_diff: -1.7087, il_win: 76.0000, rl_win: 535.5000
2025-09-24 19:47:10,991 - mmdet - INFO - Epoch [24][1020/3517]	lr: 2.637e-07, eta: 0:33:30, time: 0.830, data_time: 0.014, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1602, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3174, debug_std_frame_4: 0.3687, debug_std_frame_5: 0.4260, loss_rl: -0.2981, loss_critic: 1.4155, loss_rl_bc: 0.0033, il_score: 0.6782, rl_score: 0.6881, prev_frame_loss_waypoint_0: 0.1629, prev_frame_loss_rl_bc_0: 0.0023, loss: 1.4709, grad_norm: 35.3310, il_score_sum: 67.1816, rl_score_sum: 68.9387, score_diff: -1.7570, il_win: 76.0000, rl_win: 536.0000
2025-09-24 19:47:27,384 - mmdet - INFO - Epoch [24][1040/3517]	lr: 2.637e-07, eta: 0:33:14, time: 0.819, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1540, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2650, debug_std_frame_3: 0.3116, debug_std_frame_4: 0.3606, debug_std_frame_5: 0.4175, loss_rl: -0.2705, loss_critic: 1.2321, loss_rl_bc: 0.0017, il_score: 0.6822, rl_score: 0.6988, prev_frame_loss_waypoint_0: 0.1515, prev_frame_loss_rl_bc_0: -0.0017, loss: 1.2921, grad_norm: 43.9559, il_score_sum: 67.1816, rl_score_sum: 68.9387, score_diff: -1.7570, il_win: 76.0000, rl_win: 536.0000
2025-09-24 19:47:43,735 - mmdet - INFO - Epoch [24][1060/3517]	lr: 2.637e-07, eta: 0:32:58, time: 0.818, data_time: 0.014, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1408, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2237, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3165, debug_std_frame_4: 0.3667, debug_std_frame_5: 0.4250, loss_rl: -0.3016, loss_critic: 1.2669, loss_rl_bc: -0.0009, il_score: 0.7234, rl_score: 0.7165, prev_frame_loss_waypoint_0: 0.1667, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.3009, grad_norm: 33.3576, il_score_sum: 67.1816, rl_score_sum: 68.9387, score_diff: -1.7570, il_win: 76.0000, rl_win: 536.0000
2025-09-24 19:47:59,653 - mmdet - INFO - Epoch [24][1080/3517]	lr: 2.637e-07, eta: 0:32:42, time: 0.796, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1448, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2181, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4257, loss_rl: -0.3003, loss_critic: 1.5866, loss_rl_bc: -0.0002, il_score: 0.6692, rl_score: 0.6884, prev_frame_loss_waypoint_0: 0.1740, prev_frame_loss_rl_bc_0: 0.0041, loss: 1.6334, grad_norm: 44.5039, il_score_sum: 67.1816, rl_score_sum: 68.9387, score_diff: -1.7570, il_win: 76.0000, rl_win: 536.0000
2025-09-24 19:48:15,531 - mmdet - INFO - Epoch [24][1100/3517]	lr: 2.637e-07, eta: 0:32:26, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1486, debug_std_frame_0: 0.2042, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3786, debug_std_frame_5: 0.4351, loss_rl: -0.2892, loss_critic: 1.4172, loss_rl_bc: 0.0017, il_score: 0.6598, rl_score: 0.6670, prev_frame_loss_waypoint_0: 0.1811, prev_frame_loss_rl_bc_0: 0.0066, loss: 1.4915, grad_norm: 33.2684, il_score_sum: 67.1816, rl_score_sum: 68.9387, score_diff: -1.7570, il_win: 76.0000, rl_win: 536.0000
2025-09-24 19:48:31,791 - mmdet - INFO - Epoch [24][1120/3517]	lr: 2.637e-07, eta: 0:32:10, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1536, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2207, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4212, loss_rl: -0.2797, loss_critic: 1.4748, loss_rl_bc: 0.0026, il_score: 0.6674, rl_score: 0.6971, prev_frame_loss_waypoint_0: 0.1595, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.5392, grad_norm: 34.3784, il_score_sum: 67.2747, rl_score_sum: 68.9701, score_diff: -1.6954, il_win: 76.0000, rl_win: 536.5000
2025-09-24 19:48:47,860 - mmdet - INFO - Epoch [24][1140/3517]	lr: 2.637e-07, eta: 0:31:54, time: 0.803, data_time: 0.015, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1487, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2207, debug_std_frame_2: 0.2657, debug_std_frame_3: 0.3120, debug_std_frame_4: 0.3605, debug_std_frame_5: 0.4127, loss_rl: -0.3174, loss_critic: 1.0717, loss_rl_bc: 0.0004, il_score: 0.7106, rl_score: 0.7213, prev_frame_loss_waypoint_0: 0.1628, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.0944, grad_norm: 36.3095, il_score_sum: 67.2747, rl_score_sum: 68.9701, score_diff: -1.6954, il_win: 76.0000, rl_win: 536.5000
2025-09-24 19:49:03,730 - mmdet - INFO - Epoch [24][1160/3517]	lr: 2.637e-07, eta: 0:31:38, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1531, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2180, debug_std_frame_2: 0.2650, debug_std_frame_3: 0.3113, debug_std_frame_4: 0.3654, debug_std_frame_5: 0.4212, loss_rl: -0.3213, loss_critic: 1.0925, loss_rl_bc: 0.0024, il_score: 0.6816, rl_score: 0.7042, prev_frame_loss_waypoint_0: 0.1577, prev_frame_loss_rl_bc_0: -0.0009, loss: 1.1080, grad_norm: 31.9489, il_score_sum: 67.2747, rl_score_sum: 68.9701, score_diff: -1.6954, il_win: 76.0000, rl_win: 536.5000
2025-09-24 19:49:19,546 - mmdet - INFO - Epoch [24][1180/3517]	lr: 2.637e-07, eta: 0:31:22, time: 0.791, data_time: 0.015, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1514, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2696, debug_std_frame_3: 0.3183, debug_std_frame_4: 0.3703, debug_std_frame_5: 0.4253, loss_rl: -0.2816, loss_critic: 1.4282, loss_rl_bc: 0.0042, il_score: 0.6635, rl_score: 0.6636, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.5179, grad_norm: 34.5120, il_score_sum: 67.2747, rl_score_sum: 68.9701, score_diff: -1.6954, il_win: 76.0000, rl_win: 536.5000
2025-09-24 19:49:35,513 - mmdet - INFO - Epoch [24][1200/3517]	lr: 2.637e-07, eta: 0:31:05, time: 0.798, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1820, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2742, debug_std_frame_3: 0.3275, debug_std_frame_4: 0.3828, debug_std_frame_5: 0.4394, loss_rl: -0.2469, loss_critic: 1.2740, loss_rl_bc: 0.0093, il_score: 0.6406, rl_score: 0.6699, prev_frame_loss_waypoint_0: 0.1746, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.4241, grad_norm: 37.0896, il_score_sum: 67.2747, rl_score_sum: 68.9701, score_diff: -1.6954, il_win: 76.0000, rl_win: 536.5000
2025-09-24 19:49:51,555 - mmdet - INFO - Epoch [24][1220/3517]	lr: 2.637e-07, eta: 0:30:49, time: 0.802, data_time: 0.016, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1479, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2183, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3149, debug_std_frame_4: 0.3676, debug_std_frame_5: 0.4239, loss_rl: -0.2741, loss_critic: 1.4441, loss_rl_bc: 0.0056, il_score: 0.6458, rl_score: 0.6666, prev_frame_loss_waypoint_0: 0.1684, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.5196, grad_norm: 35.2467, il_score_sum: 67.2890, rl_score_sum: 68.9808, score_diff: -1.6917, il_win: 76.0000, rl_win: 537.0000
2025-09-24 19:50:07,560 - mmdet - INFO - Epoch [24][1240/3517]	lr: 2.637e-07, eta: 0:30:33, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1532, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2242, debug_std_frame_2: 0.2723, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4335, loss_rl: -0.2512, loss_critic: 1.4264, loss_rl_bc: 0.0011, il_score: 0.6502, rl_score: 0.6797, prev_frame_loss_waypoint_0: 0.1618, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.5183, grad_norm: 39.7431, il_score_sum: 67.2890, rl_score_sum: 68.9808, score_diff: -1.6917, il_win: 76.0000, rl_win: 537.0000
2025-09-24 19:50:23,507 - mmdet - INFO - Epoch [24][1260/3517]	lr: 2.637e-07, eta: 0:30:17, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1444, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2675, debug_std_frame_3: 0.3168, debug_std_frame_4: 0.3685, debug_std_frame_5: 0.4222, loss_rl: -0.3272, loss_critic: 1.5321, loss_rl_bc: -0.0002, il_score: 0.6980, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1530, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.5277, grad_norm: 34.0565, il_score_sum: 67.2890, rl_score_sum: 68.9808, score_diff: -1.6917, il_win: 76.0000, rl_win: 537.0000
2025-09-24 19:50:39,681 - mmdet - INFO - Epoch [24][1280/3517]	lr: 2.637e-07, eta: 0:30:01, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1479, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2689, debug_std_frame_3: 0.3168, debug_std_frame_4: 0.3676, debug_std_frame_5: 0.4243, loss_rl: -0.3196, loss_critic: 1.3257, loss_rl_bc: 0.0010, il_score: 0.7101, rl_score: 0.7232, prev_frame_loss_waypoint_0: 0.1782, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.3646, grad_norm: 44.1561, il_score_sum: 67.2890, rl_score_sum: 68.9808, score_diff: -1.6917, il_win: 76.0000, rl_win: 537.0000
2025-09-24 19:50:55,690 - mmdet - INFO - Epoch [24][1300/3517]	lr: 2.637e-07, eta: 0:29:45, time: 0.800, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1492, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2653, debug_std_frame_3: 0.3139, debug_std_frame_4: 0.3650, debug_std_frame_5: 0.4155, loss_rl: -0.2892, loss_critic: 1.3537, loss_rl_bc: 0.0005, il_score: 0.6980, rl_score: 0.6935, prev_frame_loss_waypoint_0: 0.1648, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.4090, grad_norm: 42.4982, il_score_sum: 67.2890, rl_score_sum: 68.9808, score_diff: -1.6917, il_win: 76.0000, rl_win: 537.0000
2025-09-24 19:51:11,919 - mmdet - INFO - Epoch [24][1320/3517]	lr: 2.637e-07, eta: 0:29:29, time: 0.812, data_time: 0.015, memory: 8550, loss_rec: 0.0265, loss_waypoint: 0.1586, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3150, debug_std_frame_4: 0.3638, debug_std_frame_5: 0.4180, loss_rl: -0.2823, loss_critic: 1.4385, loss_rl_bc: 0.0020, il_score: 0.6892, rl_score: 0.7060, prev_frame_loss_waypoint_0: 0.1831, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.5318, grad_norm: 37.3265, il_score_sum: 67.3337, rl_score_sum: 69.0160, score_diff: -1.6823, il_win: 76.0000, rl_win: 537.5000
2025-09-24 19:51:27,911 - mmdet - INFO - Epoch [24][1340/3517]	lr: 2.637e-07, eta: 0:29:13, time: 0.799, data_time: 0.015, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1346, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2215, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3162, debug_std_frame_4: 0.3680, debug_std_frame_5: 0.4236, loss_rl: -0.3090, loss_critic: 1.1544, loss_rl_bc: -0.0030, il_score: 0.7054, rl_score: 0.7165, prev_frame_loss_waypoint_0: 0.1472, prev_frame_loss_rl_bc_0: -0.0002, loss: 1.1478, grad_norm: 38.1044, il_score_sum: 67.3337, rl_score_sum: 69.0160, score_diff: -1.6823, il_win: 76.0000, rl_win: 537.5000
2025-09-24 19:51:44,098 - mmdet - INFO - Epoch [24][1360/3517]	lr: 2.637e-07, eta: 0:28:57, time: 0.809, data_time: 0.014, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1540, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3675, debug_std_frame_5: 0.4239, loss_rl: -0.2515, loss_critic: 1.4557, loss_rl_bc: 0.0019, il_score: 0.6668, rl_score: 0.6919, prev_frame_loss_waypoint_0: 0.1626, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.5500, grad_norm: 34.7339, il_score_sum: 67.3337, rl_score_sum: 69.0160, score_diff: -1.6823, il_win: 76.0000, rl_win: 537.5000
2025-09-24 19:51:59,971 - mmdet - INFO - Epoch [24][1380/3517]	lr: 2.637e-07, eta: 0:28:40, time: 0.794, data_time: 0.015, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1647, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2196, debug_std_frame_2: 0.2637, debug_std_frame_3: 0.3110, debug_std_frame_4: 0.3620, debug_std_frame_5: 0.4153, loss_rl: -0.2758, loss_critic: 1.5006, loss_rl_bc: 0.0083, il_score: 0.6552, rl_score: 0.6665, prev_frame_loss_waypoint_0: 0.1651, prev_frame_loss_rl_bc_0: 0.0038, loss: 1.5910, grad_norm: 37.9648, il_score_sum: 67.3337, rl_score_sum: 69.0160, score_diff: -1.6823, il_win: 76.0000, rl_win: 537.5000
2025-09-24 19:52:15,751 - mmdet - INFO - Epoch [24][1400/3517]	lr: 2.637e-07, eta: 0:28:24, time: 0.789, data_time: 0.014, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1627, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2659, debug_std_frame_3: 0.3141, debug_std_frame_4: 0.3639, debug_std_frame_5: 0.4208, loss_rl: -0.2870, loss_critic: 1.3576, loss_rl_bc: 0.0064, il_score: 0.6541, rl_score: 0.6706, prev_frame_loss_waypoint_0: 0.1695, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.4410, grad_norm: 33.3751, il_score_sum: 67.3337, rl_score_sum: 69.0160, score_diff: -1.6823, il_win: 76.0000, rl_win: 537.5000
2025-09-24 19:52:31,760 - mmdet - INFO - Epoch [24][1420/3517]	lr: 2.637e-07, eta: 0:28:08, time: 0.800, data_time: 0.015, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1550, debug_std_frame_0: 0.2047, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3188, debug_std_frame_4: 0.3711, debug_std_frame_5: 0.4255, loss_rl: -0.3023, loss_critic: 1.2837, loss_rl_bc: 0.0010, il_score: 0.6303, rl_score: 0.6765, prev_frame_loss_waypoint_0: 0.1591, prev_frame_loss_rl_bc_0: 0.0012, loss: 1.3224, grad_norm: 34.2116, il_score_sum: 67.2807, rl_score_sum: 68.9764, score_diff: -1.6957, il_win: 76.0000, rl_win: 538.0000
2025-09-24 19:52:47,905 - mmdet - INFO - Epoch [24][1440/3517]	lr: 2.637e-07, eta: 0:27:52, time: 0.807, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1766, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2220, debug_std_frame_2: 0.2686, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3659, debug_std_frame_5: 0.4189, loss_rl: -0.2668, loss_critic: 1.1711, loss_rl_bc: 0.0065, il_score: 0.6864, rl_score: 0.7044, prev_frame_loss_waypoint_0: 0.1859, prev_frame_loss_rl_bc_0: 0.0055, loss: 1.3036, grad_norm: 30.5592, il_score_sum: 67.2807, rl_score_sum: 68.9764, score_diff: -1.6957, il_win: 76.0000, rl_win: 538.0000
2025-09-24 19:53:03,967 - mmdet - INFO - Epoch [24][1460/3517]	lr: 2.637e-07, eta: 0:27:36, time: 0.803, data_time: 0.014, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1548, debug_std_frame_0: 0.2039, debug_std_frame_1: 0.2180, debug_std_frame_2: 0.2638, debug_std_frame_3: 0.3140, debug_std_frame_4: 0.3648, debug_std_frame_5: 0.4210, loss_rl: -0.2726, loss_critic: 1.2395, loss_rl_bc: 0.0037, il_score: 0.6653, rl_score: 0.7043, prev_frame_loss_waypoint_0: 0.1723, prev_frame_loss_rl_bc_0: 0.0028, loss: 1.3264, grad_norm: 40.1419, il_score_sum: 67.2807, rl_score_sum: 68.9764, score_diff: -1.6957, il_win: 76.0000, rl_win: 538.0000
2025-09-24 19:53:19,907 - mmdet - INFO - Epoch [24][1480/3517]	lr: 2.637e-07, eta: 0:27:20, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1642, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2658, debug_std_frame_3: 0.3149, debug_std_frame_4: 0.3646, debug_std_frame_5: 0.4180, loss_rl: -0.2292, loss_critic: 1.4444, loss_rl_bc: 0.0056, il_score: 0.6682, rl_score: 0.6594, prev_frame_loss_waypoint_0: 0.1550, prev_frame_loss_rl_bc_0: 0.0021, loss: 1.5677, grad_norm: 31.9282, il_score_sum: 67.2807, rl_score_sum: 68.9764, score_diff: -1.6957, il_win: 76.0000, rl_win: 538.0000
2025-09-24 19:53:35,889 - mmdet - INFO - Epoch [24][1500/3517]	lr: 2.637e-07, eta: 0:27:04, time: 0.799, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1540, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2731, debug_std_frame_3: 0.3240, debug_std_frame_4: 0.3763, debug_std_frame_5: 0.4310, loss_rl: -0.2890, loss_critic: 1.1403, loss_rl_bc: 0.0026, il_score: 0.7118, rl_score: 0.7224, prev_frame_loss_waypoint_0: 0.1651, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.1999, grad_norm: 37.0040, il_score_sum: 67.2807, rl_score_sum: 68.9764, score_diff: -1.6957, il_win: 76.0000, rl_win: 538.0000
2025-09-24 19:53:52,217 - mmdet - INFO - Epoch [24][1520/3517]	lr: 2.637e-07, eta: 0:26:48, time: 0.816, data_time: 0.013, memory: 8550, loss_rec: 0.0266, loss_waypoint: 0.1690, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2730, debug_std_frame_3: 0.3265, debug_std_frame_4: 0.3805, debug_std_frame_5: 0.4388, loss_rl: -0.2146, loss_critic: 1.1642, loss_rl_bc: 0.0065, il_score: 0.6588, rl_score: 0.6611, prev_frame_loss_waypoint_0: 0.1902, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.3525, grad_norm: 35.4636, il_score_sum: 67.3014, rl_score_sum: 68.9954, score_diff: -1.6940, il_win: 76.0000, rl_win: 538.5000
2025-09-24 19:54:08,244 - mmdet - INFO - Epoch [24][1540/3517]	lr: 2.637e-07, eta: 0:26:32, time: 0.801, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1637, debug_std_frame_0: 0.2083, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2675, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3651, debug_std_frame_5: 0.4200, loss_rl: -0.2972, loss_critic: 1.3849, loss_rl_bc: 0.0076, il_score: 0.6839, rl_score: 0.6892, prev_frame_loss_waypoint_0: 0.1635, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.4493, grad_norm: 34.8604, il_score_sum: 67.3014, rl_score_sum: 68.9954, score_diff: -1.6940, il_win: 76.0000, rl_win: 538.5000
2025-09-24 19:54:24,103 - mmdet - INFO - Epoch [24][1560/3517]	lr: 2.637e-07, eta: 0:26:15, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1515, debug_std_frame_0: 0.2044, debug_std_frame_1: 0.2178, debug_std_frame_2: 0.2657, debug_std_frame_3: 0.3137, debug_std_frame_4: 0.3632, debug_std_frame_5: 0.4180, loss_rl: -0.3166, loss_critic: 1.3349, loss_rl_bc: 0.0022, il_score: 0.7077, rl_score: 0.7267, prev_frame_loss_waypoint_0: 0.1598, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.3591, grad_norm: 34.6884, il_score_sum: 67.3014, rl_score_sum: 68.9954, score_diff: -1.6940, il_win: 76.0000, rl_win: 538.5000
2025-09-24 19:54:40,036 - mmdet - INFO - Epoch [24][1580/3517]	lr: 2.637e-07, eta: 0:25:59, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1582, debug_std_frame_0: 0.2070, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2687, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3665, debug_std_frame_5: 0.4204, loss_rl: -0.2658, loss_critic: 1.1378, loss_rl_bc: 0.0008, il_score: 0.6869, rl_score: 0.7329, prev_frame_loss_waypoint_0: 0.1653, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.2246, grad_norm: 35.3059, il_score_sum: 67.3014, rl_score_sum: 68.9954, score_diff: -1.6940, il_win: 76.0000, rl_win: 538.5000
2025-09-24 19:54:56,147 - mmdet - INFO - Epoch [24][1600/3517]	lr: 2.637e-07, eta: 0:25:43, time: 0.805, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1717, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3183, debug_std_frame_4: 0.3686, debug_std_frame_5: 0.4230, loss_rl: -0.2752, loss_critic: 1.1711, loss_rl_bc: 0.0040, il_score: 0.6977, rl_score: 0.7055, prev_frame_loss_waypoint_0: 0.1788, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.2826, grad_norm: 39.6178, il_score_sum: 67.3014, rl_score_sum: 68.9954, score_diff: -1.6940, il_win: 76.0000, rl_win: 538.5000
2025-09-24 19:55:12,138 - mmdet - INFO - Epoch [24][1620/3517]	lr: 2.637e-07, eta: 0:25:27, time: 0.800, data_time: 0.014, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1551, debug_std_frame_0: 0.2044, debug_std_frame_1: 0.2189, debug_std_frame_2: 0.2628, debug_std_frame_3: 0.3102, debug_std_frame_4: 0.3592, debug_std_frame_5: 0.4109, loss_rl: -0.2931, loss_critic: 1.4700, loss_rl_bc: 0.0020, il_score: 0.6762, rl_score: 0.7004, prev_frame_loss_waypoint_0: 0.1718, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.5362, grad_norm: 39.4377, il_score_sum: 67.4061, rl_score_sum: 69.0972, score_diff: -1.6911, il_win: 76.0000, rl_win: 539.0000
2025-09-24 19:55:28,201 - mmdet - INFO - Epoch [24][1640/3517]	lr: 2.637e-07, eta: 0:25:11, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1669, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2196, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3239, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4331, loss_rl: -0.2946, loss_critic: 1.5558, loss_rl_bc: 0.0048, il_score: 0.6572, rl_score: 0.6961, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.6310, grad_norm: 37.7369, il_score_sum: 67.4061, rl_score_sum: 69.0972, score_diff: -1.6911, il_win: 76.0000, rl_win: 539.0000
2025-09-24 19:55:44,262 - mmdet - INFO - Epoch [24][1660/3517]	lr: 2.637e-07, eta: 0:24:55, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1572, debug_std_frame_0: 0.2086, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3118, debug_std_frame_4: 0.3601, debug_std_frame_5: 0.4127, loss_rl: -0.2816, loss_critic: 1.3110, loss_rl_bc: 0.0050, il_score: 0.6908, rl_score: 0.6916, prev_frame_loss_waypoint_0: 0.1638, prev_frame_loss_rl_bc_0: 0.0014, loss: 1.3825, grad_norm: 40.8736, il_score_sum: 67.4061, rl_score_sum: 69.0972, score_diff: -1.6911, il_win: 76.0000, rl_win: 539.0000
2025-09-24 19:56:00,487 - mmdet - INFO - Epoch [24][1680/3517]	lr: 2.637e-07, eta: 0:24:39, time: 0.811, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1524, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2202, debug_std_frame_2: 0.2642, debug_std_frame_3: 0.3100, debug_std_frame_4: 0.3592, debug_std_frame_5: 0.4125, loss_rl: -0.2922, loss_critic: 1.2473, loss_rl_bc: 0.0013, il_score: 0.6837, rl_score: 0.7052, prev_frame_loss_waypoint_0: 0.1873, prev_frame_loss_rl_bc_0: 0.0065, loss: 1.3286, grad_norm: 30.3761, il_score_sum: 67.4061, rl_score_sum: 69.0972, score_diff: -1.6911, il_win: 76.0000, rl_win: 539.0000
2025-09-24 19:56:16,637 - mmdet - INFO - Epoch [24][1700/3517]	lr: 2.637e-07, eta: 0:24:23, time: 0.806, data_time: 0.013, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1620, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2221, debug_std_frame_2: 0.2741, debug_std_frame_3: 0.3261, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4317, loss_rl: -0.2575, loss_critic: 1.3114, loss_rl_bc: 0.0061, il_score: 0.6487, rl_score: 0.6779, prev_frame_loss_waypoint_0: 0.1798, prev_frame_loss_rl_bc_0: 0.0059, loss: 1.4317, grad_norm: 37.6008, il_score_sum: 67.4061, rl_score_sum: 69.0972, score_diff: -1.6911, il_win: 76.0000, rl_win: 539.0000
2025-09-24 19:56:32,635 - mmdet - INFO - Epoch [24][1720/3517]	lr: 2.637e-07, eta: 0:24:07, time: 0.802, data_time: 0.015, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1497, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2692, debug_std_frame_3: 0.3193, debug_std_frame_4: 0.3713, debug_std_frame_5: 0.4216, loss_rl: -0.2871, loss_critic: 1.3495, loss_rl_bc: 0.0017, il_score: 0.6713, rl_score: 0.7131, prev_frame_loss_waypoint_0: 0.1616, prev_frame_loss_rl_bc_0: 0.0039, loss: 1.4046, grad_norm: 35.3068, il_score_sum: 67.3670, rl_score_sum: 69.1099, score_diff: -1.7429, il_win: 76.0000, rl_win: 539.5000
2025-09-24 19:56:48,467 - mmdet - INFO - Epoch [24][1740/3517]	lr: 2.637e-07, eta: 0:23:51, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1532, debug_std_frame_0: 0.2045, debug_std_frame_1: 0.2164, debug_std_frame_2: 0.2605, debug_std_frame_3: 0.3071, debug_std_frame_4: 0.3564, debug_std_frame_5: 0.4074, loss_rl: -0.2815, loss_critic: 1.3252, loss_rl_bc: 0.0017, il_score: 0.7085, rl_score: 0.7104, prev_frame_loss_waypoint_0: 0.1659, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.3947, grad_norm: 40.5161, il_score_sum: 67.3670, rl_score_sum: 69.1099, score_diff: -1.7429, il_win: 76.0000, rl_win: 539.5000
2025-09-24 19:57:04,554 - mmdet - INFO - Epoch [24][1760/3517]	lr: 2.637e-07, eta: 0:23:34, time: 0.804, data_time: 0.013, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1513, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2700, debug_std_frame_3: 0.3196, debug_std_frame_4: 0.3714, debug_std_frame_5: 0.4260, loss_rl: -0.2697, loss_critic: 1.4130, loss_rl_bc: 0.0047, il_score: 0.6429, rl_score: 0.6559, prev_frame_loss_waypoint_0: 0.1735, prev_frame_loss_rl_bc_0: 0.0075, loss: 1.5070, grad_norm: 30.6326, il_score_sum: 67.3670, rl_score_sum: 69.1099, score_diff: -1.7429, il_win: 76.0000, rl_win: 539.5000
2025-09-24 19:57:20,766 - mmdet - INFO - Epoch [24][1780/3517]	lr: 2.637e-07, eta: 0:23:18, time: 0.811, data_time: 0.014, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1631, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2658, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3651, debug_std_frame_5: 0.4172, loss_rl: -0.2886, loss_critic: 1.2686, loss_rl_bc: 0.0051, il_score: 0.6928, rl_score: 0.7072, prev_frame_loss_waypoint_0: 0.1836, prev_frame_loss_rl_bc_0: 0.0095, loss: 1.3670, grad_norm: 37.4301, il_score_sum: 67.3670, rl_score_sum: 69.1099, score_diff: -1.7429, il_win: 76.0000, rl_win: 539.5000
2025-09-24 19:57:36,823 - mmdet - INFO - Epoch [24][1800/3517]	lr: 2.637e-07, eta: 0:23:02, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1497, debug_std_frame_0: 0.2098, debug_std_frame_1: 0.2239, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3620, debug_std_frame_5: 0.4164, loss_rl: -0.3196, loss_critic: 1.4440, loss_rl_bc: 0.0007, il_score: 0.7186, rl_score: 0.7151, prev_frame_loss_waypoint_0: 0.1646, prev_frame_loss_rl_bc_0: 0.0023, loss: 1.4671, grad_norm: 39.4877, il_score_sum: 67.3670, rl_score_sum: 69.1099, score_diff: -1.7429, il_win: 76.0000, rl_win: 539.5000
2025-09-24 19:57:52,821 - mmdet - INFO - Epoch [24][1820/3517]	lr: 2.637e-07, eta: 0:22:46, time: 0.800, data_time: 0.014, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1691, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2219, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3157, debug_std_frame_4: 0.3650, debug_std_frame_5: 0.4191, loss_rl: -0.2647, loss_critic: 1.3793, loss_rl_bc: 0.0051, il_score: 0.6523, rl_score: 0.6898, prev_frame_loss_waypoint_0: 0.1773, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.4964, grad_norm: 41.9089, il_score_sum: 67.4402, rl_score_sum: 69.1580, score_diff: -1.7178, il_win: 76.0000, rl_win: 540.0000
2025-09-24 19:58:08,723 - mmdet - INFO - Epoch [24][1840/3517]	lr: 2.637e-07, eta: 0:22:30, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0236, loss_waypoint: 0.1350, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2201, debug_std_frame_2: 0.2599, debug_std_frame_3: 0.3017, debug_std_frame_4: 0.3452, debug_std_frame_5: 0.3952, loss_rl: -0.3377, loss_critic: 1.5289, loss_rl_bc: -0.0027, il_score: 0.7028, rl_score: 0.7200, prev_frame_loss_waypoint_0: 0.1531, prev_frame_loss_rl_bc_0: 0.0008, loss: 1.5010, grad_norm: 34.1599, il_score_sum: 67.4402, rl_score_sum: 69.1580, score_diff: -1.7178, il_win: 76.0000, rl_win: 540.0000
2025-09-24 19:58:24,552 - mmdet - INFO - Epoch [24][1860/3517]	lr: 2.637e-07, eta: 0:22:14, time: 0.791, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1437, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2193, debug_std_frame_2: 0.2624, debug_std_frame_3: 0.3087, debug_std_frame_4: 0.3573, debug_std_frame_5: 0.4121, loss_rl: -0.3004, loss_critic: 1.4710, loss_rl_bc: -0.0014, il_score: 0.6822, rl_score: 0.6902, prev_frame_loss_waypoint_0: 0.1515, prev_frame_loss_rl_bc_0: -0.0001, loss: 1.4897, grad_norm: 41.2484, il_score_sum: 67.4402, rl_score_sum: 69.1580, score_diff: -1.7178, il_win: 76.0000, rl_win: 540.0000
2025-09-24 19:58:40,218 - mmdet - INFO - Epoch [24][1880/3517]	lr: 2.637e-07, eta: 0:21:58, time: 0.783, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1723, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2240, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3226, debug_std_frame_4: 0.3762, debug_std_frame_5: 0.4341, loss_rl: -0.2376, loss_critic: 1.1965, loss_rl_bc: 0.0055, il_score: 0.6743, rl_score: 0.7052, prev_frame_loss_waypoint_0: 0.1851, prev_frame_loss_rl_bc_0: 0.0070, loss: 1.3538, grad_norm: 33.5520, il_score_sum: 67.4402, rl_score_sum: 69.1580, score_diff: -1.7178, il_win: 76.0000, rl_win: 540.0000
2025-09-24 19:58:56,159 - mmdet - INFO - Epoch [24][1900/3517]	lr: 2.637e-07, eta: 0:21:42, time: 0.797, data_time: 0.014, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1746, debug_std_frame_0: 0.2075, debug_std_frame_1: 0.2249, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3259, debug_std_frame_4: 0.3792, debug_std_frame_5: 0.4358, loss_rl: -0.2394, loss_critic: 1.1488, loss_rl_bc: 0.0031, il_score: 0.6800, rl_score: 0.6809, prev_frame_loss_waypoint_0: 0.1685, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.2850, grad_norm: 33.2490, il_score_sum: 67.4402, rl_score_sum: 69.1580, score_diff: -1.7178, il_win: 76.0000, rl_win: 540.0000
2025-09-24 19:59:12,126 - mmdet - INFO - Epoch [24][1920/3517]	lr: 2.637e-07, eta: 0:21:26, time: 0.798, data_time: 0.014, memory: 8550, loss_rec: 0.0237, loss_waypoint: 0.1586, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2210, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3648, debug_std_frame_5: 0.4159, loss_rl: -0.2933, loss_critic: 1.3286, loss_rl_bc: 0.0035, il_score: 0.6790, rl_score: 0.7118, prev_frame_loss_waypoint_0: 0.1759, prev_frame_loss_rl_bc_0: 0.0067, loss: 1.4036, grad_norm: 33.9714, il_score_sum: 67.4921, rl_score_sum: 69.2055, score_diff: -1.7134, il_win: 76.0000, rl_win: 540.5000
2025-09-24 19:59:27,991 - mmdet - INFO - Epoch [24][1940/3517]	lr: 2.637e-07, eta: 0:21:09, time: 0.794, data_time: 0.014, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1338, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2172, debug_std_frame_2: 0.2603, debug_std_frame_3: 0.3070, debug_std_frame_4: 0.3542, debug_std_frame_5: 0.4065, loss_rl: -0.2677, loss_critic: 1.4670, loss_rl_bc: -0.0003, il_score: 0.6874, rl_score: 0.6883, prev_frame_loss_waypoint_0: 0.1448, prev_frame_loss_rl_bc_0: -0.0027, loss: 1.5004, grad_norm: 35.1195, il_score_sum: 67.4921, rl_score_sum: 69.2055, score_diff: -1.7134, il_win: 76.0000, rl_win: 540.5000
2025-09-24 19:59:43,744 - mmdet - INFO - Epoch [24][1960/3517]	lr: 2.637e-07, eta: 0:20:53, time: 0.787, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1503, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2206, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3195, debug_std_frame_4: 0.3709, debug_std_frame_5: 0.4278, loss_rl: -0.2608, loss_critic: 1.4044, loss_rl_bc: 0.0010, il_score: 0.7043, rl_score: 0.7037, prev_frame_loss_waypoint_0: 0.1668, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.4895, grad_norm: 29.6033, il_score_sum: 67.4921, rl_score_sum: 69.2055, score_diff: -1.7134, il_win: 76.0000, rl_win: 540.5000
2025-09-24 19:59:59,574 - mmdet - INFO - Epoch [24][1980/3517]	lr: 2.637e-07, eta: 0:20:37, time: 0.791, data_time: 0.015, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1538, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2198, debug_std_frame_2: 0.2638, debug_std_frame_3: 0.3132, debug_std_frame_4: 0.3638, debug_std_frame_5: 0.4184, loss_rl: -0.2933, loss_critic: 1.1848, loss_rl_bc: 0.0008, il_score: 0.7063, rl_score: 0.7214, prev_frame_loss_waypoint_0: 0.1540, prev_frame_loss_rl_bc_0: -0.0012, loss: 1.2233, grad_norm: 32.5946, il_score_sum: 67.4921, rl_score_sum: 69.2055, score_diff: -1.7134, il_win: 76.0000, rl_win: 540.5000
2025-09-24 20:00:15,445 - mmdet - INFO - Epoch [24][2000/3517]	lr: 2.637e-07, eta: 0:20:21, time: 0.794, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1658, debug_std_frame_0: 0.2066, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2674, debug_std_frame_3: 0.3186, debug_std_frame_4: 0.3693, debug_std_frame_5: 0.4251, loss_rl: -0.2585, loss_critic: 1.2467, loss_rl_bc: 0.0036, il_score: 0.6749, rl_score: 0.6929, prev_frame_loss_waypoint_0: 0.1673, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.3534, grad_norm: 32.8986, il_score_sum: 67.4921, rl_score_sum: 69.2055, score_diff: -1.7134, il_win: 76.0000, rl_win: 540.5000
2025-09-24 20:00:31,579 - mmdet - INFO - Epoch [24][2020/3517]	lr: 2.637e-07, eta: 0:20:05, time: 0.807, data_time: 0.015, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1640, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2646, debug_std_frame_3: 0.3104, debug_std_frame_4: 0.3603, debug_std_frame_5: 0.4110, loss_rl: -0.3023, loss_critic: 1.4255, loss_rl_bc: 0.0036, il_score: 0.6746, rl_score: 0.6863, prev_frame_loss_waypoint_0: 0.1686, prev_frame_loss_rl_bc_0: 0.0024, loss: 1.4866, grad_norm: 39.3332, il_score_sum: 67.5466, rl_score_sum: 69.2503, score_diff: -1.7037, il_win: 76.0000, rl_win: 541.5000
2025-09-24 20:00:47,341 - mmdet - INFO - Epoch [24][2040/3517]	lr: 2.637e-07, eta: 0:19:49, time: 0.788, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1625, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2236, debug_std_frame_2: 0.2794, debug_std_frame_3: 0.3335, debug_std_frame_4: 0.3911, debug_std_frame_5: 0.4466, loss_rl: -0.2675, loss_critic: 1.4680, loss_rl_bc: 0.0034, il_score: 0.6722, rl_score: 0.6806, prev_frame_loss_waypoint_0: 0.1822, prev_frame_loss_rl_bc_0: 0.0085, loss: 1.5820, grad_norm: 40.8184, il_score_sum: 67.5466, rl_score_sum: 69.2503, score_diff: -1.7037, il_win: 76.0000, rl_win: 541.5000
2025-09-24 20:01:03,261 - mmdet - INFO - Epoch [24][2060/3517]	lr: 2.637e-07, eta: 0:19:33, time: 0.796, data_time: 0.014, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1542, debug_std_frame_0: 0.2072, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3762, debug_std_frame_5: 0.4331, loss_rl: -0.3046, loss_critic: 1.2327, loss_rl_bc: 0.0016, il_score: 0.6482, rl_score: 0.6800, prev_frame_loss_waypoint_0: 0.1717, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.2865, grad_norm: 38.4292, il_score_sum: 67.5466, rl_score_sum: 69.2503, score_diff: -1.7037, il_win: 76.0000, rl_win: 541.5000
2025-09-24 20:01:19,270 - mmdet - INFO - Epoch [24][2080/3517]	lr: 2.637e-07, eta: 0:19:17, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1775, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2688, debug_std_frame_3: 0.3176, debug_std_frame_4: 0.3685, debug_std_frame_5: 0.4243, loss_rl: -0.2672, loss_critic: 1.4821, loss_rl_bc: 0.0087, il_score: 0.6686, rl_score: 0.6812, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.6011, grad_norm: 33.7233, il_score_sum: 67.5466, rl_score_sum: 69.2503, score_diff: -1.7037, il_win: 76.0000, rl_win: 541.5000
2025-09-24 20:01:35,194 - mmdet - INFO - Epoch [24][2100/3517]	lr: 2.637e-07, eta: 0:19:01, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1434, debug_std_frame_0: 0.2043, debug_std_frame_1: 0.2180, debug_std_frame_2: 0.2652, debug_std_frame_3: 0.3142, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4172, loss_rl: -0.2838, loss_critic: 1.7825, loss_rl_bc: 0.0017, il_score: 0.6479, rl_score: 0.6643, prev_frame_loss_waypoint_0: 0.1689, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.8448, grad_norm: 34.5500, il_score_sum: 67.5466, rl_score_sum: 69.2503, score_diff: -1.7037, il_win: 76.0000, rl_win: 541.5000
2025-09-24 20:01:51,173 - mmdet - INFO - Epoch [24][2120/3517]	lr: 2.637e-07, eta: 0:18:44, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1711, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2210, debug_std_frame_2: 0.2690, debug_std_frame_3: 0.3177, debug_std_frame_4: 0.3683, debug_std_frame_5: 0.4269, loss_rl: -0.2637, loss_critic: 1.4008, loss_rl_bc: 0.0082, il_score: 0.6446, rl_score: 0.6772, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.5316, grad_norm: 40.4318, il_score_sum: 67.5113, rl_score_sum: 69.2157, score_diff: -1.7044, il_win: 76.0000, rl_win: 542.5000
2025-09-24 20:02:07,084 - mmdet - INFO - Epoch [24][2140/3517]	lr: 2.637e-07, eta: 0:18:28, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1386, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2181, debug_std_frame_2: 0.2645, debug_std_frame_3: 0.3138, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4243, loss_rl: -0.2745, loss_critic: 1.8398, loss_rl_bc: 0.0053, il_score: 0.6669, rl_score: 0.6717, prev_frame_loss_waypoint_0: 0.1602, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.9003, grad_norm: 37.5840, il_score_sum: 67.5113, rl_score_sum: 69.2157, score_diff: -1.7044, il_win: 76.0000, rl_win: 542.5000
2025-09-24 20:02:23,083 - mmdet - INFO - Epoch [24][2160/3517]	lr: 2.637e-07, eta: 0:18:12, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1564, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2217, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3200, debug_std_frame_4: 0.3750, debug_std_frame_5: 0.4335, loss_rl: -0.2787, loss_critic: 1.0682, loss_rl_bc: 0.0008, il_score: 0.6578, rl_score: 0.7091, prev_frame_loss_waypoint_0: 0.1653, prev_frame_loss_rl_bc_0: 0.0012, loss: 1.1385, grad_norm: 39.3588, il_score_sum: 67.5113, rl_score_sum: 69.2157, score_diff: -1.7044, il_win: 76.0000, rl_win: 542.5000
2025-09-24 20:02:39,036 - mmdet - INFO - Epoch [24][2180/3517]	lr: 2.637e-07, eta: 0:17:56, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1674, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2659, debug_std_frame_3: 0.3138, debug_std_frame_4: 0.3615, debug_std_frame_5: 0.4172, loss_rl: -0.2482, loss_critic: 1.4890, loss_rl_bc: 0.0047, il_score: 0.6696, rl_score: 0.6862, prev_frame_loss_waypoint_0: 0.1755, prev_frame_loss_rl_bc_0: 0.0052, loss: 1.6191, grad_norm: 39.1833, il_score_sum: 67.5113, rl_score_sum: 69.2157, score_diff: -1.7044, il_win: 76.0000, rl_win: 542.5000
2025-09-24 20:02:54,930 - mmdet - INFO - Epoch [24][2200/3517]	lr: 2.637e-07, eta: 0:17:40, time: 0.795, data_time: 0.013, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1674, debug_std_frame_0: 0.2082, debug_std_frame_1: 0.2233, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3217, debug_std_frame_4: 0.3734, debug_std_frame_5: 0.4315, loss_rl: -0.2627, loss_critic: 1.4304, loss_rl_bc: 0.0073, il_score: 0.6625, rl_score: 0.6640, prev_frame_loss_waypoint_0: 0.1693, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.5427, grad_norm: 41.4365, il_score_sum: 67.5113, rl_score_sum: 69.2157, score_diff: -1.7044, il_win: 76.0000, rl_win: 542.5000
2025-09-24 20:03:11,197 - mmdet - INFO - Epoch [24][2220/3517]	lr: 2.637e-07, eta: 0:17:24, time: 0.813, data_time: 0.014, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1534, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2182, debug_std_frame_2: 0.2635, debug_std_frame_3: 0.3114, debug_std_frame_4: 0.3610, debug_std_frame_5: 0.4159, loss_rl: -0.2937, loss_critic: 1.1409, loss_rl_bc: -0.0005, il_score: 0.6935, rl_score: 0.7114, prev_frame_loss_waypoint_0: 0.1582, prev_frame_loss_rl_bc_0: -0.0010, loss: 1.1825, grad_norm: 34.1452, il_score_sum: 67.4728, rl_score_sum: 69.2044, score_diff: -1.7316, il_win: 76.0000, rl_win: 543.5000
2025-09-24 20:03:27,259 - mmdet - INFO - Epoch [24][2240/3517]	lr: 2.637e-07, eta: 0:17:08, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1671, debug_std_frame_0: 0.2048, debug_std_frame_1: 0.2205, debug_std_frame_2: 0.2714, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3749, debug_std_frame_5: 0.4298, loss_rl: -0.2813, loss_critic: 1.3042, loss_rl_bc: 0.0038, il_score: 0.6771, rl_score: 0.6987, prev_frame_loss_waypoint_0: 0.1696, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.3915, grad_norm: 36.9770, il_score_sum: 67.4728, rl_score_sum: 69.2044, score_diff: -1.7316, il_win: 76.0000, rl_win: 543.5000
2025-09-24 20:03:43,395 - mmdet - INFO - Epoch [24][2260/3517]	lr: 2.637e-07, eta: 0:16:52, time: 0.807, data_time: 0.014, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1679, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2225, debug_std_frame_2: 0.2740, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3785, debug_std_frame_5: 0.4325, loss_rl: -0.2583, loss_critic: 1.2876, loss_rl_bc: 0.0066, il_score: 0.6799, rl_score: 0.6862, prev_frame_loss_waypoint_0: 0.1726, prev_frame_loss_rl_bc_0: 0.0047, loss: 1.4068, grad_norm: 39.0196, il_score_sum: 67.4728, rl_score_sum: 69.2044, score_diff: -1.7316, il_win: 76.0000, rl_win: 543.5000
2025-09-24 20:03:59,259 - mmdet - INFO - Epoch [24][2280/3517]	lr: 2.637e-07, eta: 0:16:36, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1575, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2709, debug_std_frame_3: 0.3248, debug_std_frame_4: 0.3806, debug_std_frame_5: 0.4390, loss_rl: -0.2774, loss_critic: 1.4355, loss_rl_bc: 0.0048, il_score: 0.6610, rl_score: 0.6673, prev_frame_loss_waypoint_0: 0.1823, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.5351, grad_norm: 37.2995, il_score_sum: 67.4728, rl_score_sum: 69.2044, score_diff: -1.7316, il_win: 76.0000, rl_win: 543.5000
2025-09-24 20:04:15,208 - mmdet - INFO - Epoch [24][2300/3517]	lr: 2.637e-07, eta: 0:16:19, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1473, debug_std_frame_0: 0.2078, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2693, debug_std_frame_3: 0.3189, debug_std_frame_4: 0.3691, debug_std_frame_5: 0.4246, loss_rl: -0.2948, loss_critic: 1.3660, loss_rl_bc: -0.0017, il_score: 0.7067, rl_score: 0.7168, prev_frame_loss_waypoint_0: 0.1659, prev_frame_loss_rl_bc_0: 0.0026, loss: 1.4103, grad_norm: 38.3997, il_score_sum: 67.4728, rl_score_sum: 69.2044, score_diff: -1.7316, il_win: 76.0000, rl_win: 543.5000
2025-09-24 20:04:31,455 - mmdet - INFO - Epoch [24][2320/3517]	lr: 2.637e-07, eta: 0:16:03, time: 0.812, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1592, debug_std_frame_0: 0.2076, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2677, debug_std_frame_3: 0.3169, debug_std_frame_4: 0.3679, debug_std_frame_5: 0.4233, loss_rl: -0.3135, loss_critic: 1.1763, loss_rl_bc: 0.0014, il_score: 0.6901, rl_score: 0.7251, prev_frame_loss_waypoint_0: 0.1586, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.2105, grad_norm: 42.9559, il_score_sum: 67.5103, rl_score_sum: 69.2477, score_diff: -1.7374, il_win: 76.0000, rl_win: 544.5000
2025-09-24 20:04:47,471 - mmdet - INFO - Epoch [24][2340/3517]	lr: 2.637e-07, eta: 0:15:47, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1554, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3213, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4288, loss_rl: -0.2612, loss_critic: 1.3352, loss_rl_bc: 0.0042, il_score: 0.6523, rl_score: 0.6628, prev_frame_loss_waypoint_0: 0.1772, prev_frame_loss_rl_bc_0: 0.0035, loss: 1.4397, grad_norm: 33.1103, il_score_sum: 67.5103, rl_score_sum: 69.2477, score_diff: -1.7374, il_win: 76.0000, rl_win: 544.5000
2025-09-24 20:05:03,323 - mmdet - INFO - Epoch [24][2360/3517]	lr: 2.637e-07, eta: 0:15:31, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1476, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2196, debug_std_frame_2: 0.2665, debug_std_frame_3: 0.3164, debug_std_frame_4: 0.3682, debug_std_frame_5: 0.4251, loss_rl: -0.2834, loss_critic: 1.4782, loss_rl_bc: -0.0002, il_score: 0.6546, rl_score: 0.6811, prev_frame_loss_waypoint_0: 0.1743, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.5473, grad_norm: 36.6501, il_score_sum: 67.5103, rl_score_sum: 69.2477, score_diff: -1.7374, il_win: 76.0000, rl_win: 544.5000
2025-09-24 20:05:19,155 - mmdet - INFO - Epoch [24][2380/3517]	lr: 2.637e-07, eta: 0:15:15, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0264, loss_waypoint: 0.1447, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2200, debug_std_frame_2: 0.2631, debug_std_frame_3: 0.3117, debug_std_frame_4: 0.3605, debug_std_frame_5: 0.4144, loss_rl: -0.2627, loss_critic: 1.2174, loss_rl_bc: 0.0002, il_score: 0.6469, rl_score: 0.6679, prev_frame_loss_waypoint_0: 0.1688, prev_frame_loss_rl_bc_0: 0.0040, loss: 1.2988, grad_norm: 39.3797, il_score_sum: 67.5103, rl_score_sum: 69.2477, score_diff: -1.7374, il_win: 76.0000, rl_win: 544.5000
2025-09-24 20:05:35,147 - mmdet - INFO - Epoch [24][2400/3517]	lr: 2.637e-07, eta: 0:14:59, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1565, debug_std_frame_0: 0.2077, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2649, debug_std_frame_3: 0.3124, debug_std_frame_4: 0.3620, debug_std_frame_5: 0.4182, loss_rl: -0.2782, loss_critic: 1.4194, loss_rl_bc: 0.0039, il_score: 0.6700, rl_score: 0.6805, prev_frame_loss_waypoint_0: 0.1572, prev_frame_loss_rl_bc_0: 0.0030, loss: 1.4861, grad_norm: 27.5943, il_score_sum: 67.5103, rl_score_sum: 69.2477, score_diff: -1.7374, il_win: 76.0000, rl_win: 544.5000
2025-09-24 20:05:51,137 - mmdet - INFO - Epoch [24][2420/3517]	lr: 2.637e-07, eta: 0:14:43, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1687, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2190, debug_std_frame_2: 0.2680, debug_std_frame_3: 0.3182, debug_std_frame_4: 0.3683, debug_std_frame_5: 0.4244, loss_rl: -0.2672, loss_critic: 1.7230, loss_rl_bc: 0.0078, il_score: 0.6750, rl_score: 0.6751, prev_frame_loss_waypoint_0: 0.1758, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.8422, grad_norm: 33.6466, il_score_sum: 67.4393, rl_score_sum: 69.1863, score_diff: -1.7470, il_win: 76.0000, rl_win: 545.5000
2025-09-24 20:06:07,056 - mmdet - INFO - Epoch [24][2440/3517]	lr: 2.637e-07, eta: 0:14:27, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1625, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2224, debug_std_frame_2: 0.2759, debug_std_frame_3: 0.3303, debug_std_frame_4: 0.3873, debug_std_frame_5: 0.4462, loss_rl: -0.2469, loss_critic: 1.3798, loss_rl_bc: 0.0109, il_score: 0.6428, rl_score: 0.6546, prev_frame_loss_waypoint_0: 0.1863, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5290, grad_norm: 42.7973, il_score_sum: 67.4393, rl_score_sum: 69.1863, score_diff: -1.7470, il_win: 76.0000, rl_win: 545.5000
2025-09-24 20:06:23,053 - mmdet - INFO - Epoch [24][2460/3517]	lr: 2.637e-07, eta: 0:14:11, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0262, loss_waypoint: 0.1364, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2228, debug_std_frame_2: 0.2697, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3787, debug_std_frame_5: 0.4364, loss_rl: -0.2759, loss_critic: 1.5582, loss_rl_bc: 0.0010, il_score: 0.6491, rl_score: 0.6606, prev_frame_loss_waypoint_0: 0.1611, prev_frame_loss_rl_bc_0: 0.0043, loss: 1.6113, grad_norm: 36.0955, il_score_sum: 67.4393, rl_score_sum: 69.1863, score_diff: -1.7470, il_win: 76.0000, rl_win: 545.5000
2025-09-24 20:06:39,116 - mmdet - INFO - Epoch [24][2480/3517]	lr: 2.637e-07, eta: 0:13:55, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1745, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2658, debug_std_frame_3: 0.3147, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4194, loss_rl: -0.2885, loss_critic: 1.3092, loss_rl_bc: 0.0224, il_score: 0.6859, rl_score: 0.6871, prev_frame_loss_waypoint_0: 0.1794, prev_frame_loss_rl_bc_0: 0.0222, loss: 1.4450, grad_norm: 36.7024, il_score_sum: 67.4393, rl_score_sum: 69.1863, score_diff: -1.7470, il_win: 76.0000, rl_win: 545.5000
2025-09-24 20:06:55,042 - mmdet - INFO - Epoch [24][2500/3517]	lr: 2.637e-07, eta: 0:13:38, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0259, loss_waypoint: 0.1649, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2199, debug_std_frame_2: 0.2675, debug_std_frame_3: 0.3159, debug_std_frame_4: 0.3698, debug_std_frame_5: 0.4301, loss_rl: -0.2562, loss_critic: 1.3307, loss_rl_bc: 0.0059, il_score: 0.6630, rl_score: 0.6558, prev_frame_loss_waypoint_0: 0.1837, prev_frame_loss_rl_bc_0: 0.0072, loss: 1.4621, grad_norm: 39.6806, il_score_sum: 67.4393, rl_score_sum: 69.1863, score_diff: -1.7470, il_win: 76.0000, rl_win: 545.5000
2025-09-24 20:07:11,092 - mmdet - INFO - Epoch [24][2520/3517]	lr: 2.637e-07, eta: 0:13:22, time: 0.803, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1618, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2195, debug_std_frame_2: 0.2643, debug_std_frame_3: 0.3123, debug_std_frame_4: 0.3597, debug_std_frame_5: 0.4153, loss_rl: -0.2849, loss_critic: 1.6813, loss_rl_bc: 0.0044, il_score: 0.6661, rl_score: 0.6925, prev_frame_loss_waypoint_0: 0.1568, prev_frame_loss_rl_bc_0: -0.0006, loss: 1.7433, grad_norm: 30.9947, il_score_sum: 67.3959, rl_score_sum: 69.0753, score_diff: -1.6794, il_win: 76.0000, rl_win: 546.4500
2025-09-24 20:07:27,025 - mmdet - INFO - Epoch [24][2540/3517]	lr: 2.637e-07, eta: 0:13:06, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1644, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2194, debug_std_frame_2: 0.2655, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3697, debug_std_frame_5: 0.4297, loss_rl: -0.2693, loss_critic: 1.1733, loss_rl_bc: 0.0024, il_score: 0.6949, rl_score: 0.7058, prev_frame_loss_waypoint_0: 0.1747, prev_frame_loss_rl_bc_0: 0.0036, loss: 1.2738, grad_norm: 37.4126, il_score_sum: 67.3959, rl_score_sum: 69.0753, score_diff: -1.6794, il_win: 76.0000, rl_win: 546.4500
2025-09-24 20:07:42,920 - mmdet - INFO - Epoch [24][2560/3517]	lr: 2.637e-07, eta: 0:12:50, time: 0.795, data_time: 0.012, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1506, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2210, debug_std_frame_2: 0.2725, debug_std_frame_3: 0.3245, debug_std_frame_4: 0.3771, debug_std_frame_5: 0.4334, loss_rl: -0.3350, loss_critic: 1.3800, loss_rl_bc: 0.0017, il_score: 0.6888, rl_score: 0.7181, prev_frame_loss_waypoint_0: 0.1719, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.3970, grad_norm: 39.8471, il_score_sum: 67.3959, rl_score_sum: 69.0753, score_diff: -1.6794, il_win: 76.0000, rl_win: 546.4500
2025-09-24 20:07:58,761 - mmdet - INFO - Epoch [24][2580/3517]	lr: 2.637e-07, eta: 0:12:34, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1443, debug_std_frame_0: 0.2090, debug_std_frame_1: 0.2238, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3192, debug_std_frame_4: 0.3696, debug_std_frame_5: 0.4226, loss_rl: -0.2877, loss_critic: 1.2725, loss_rl_bc: -0.0009, il_score: 0.6648, rl_score: 0.7026, prev_frame_loss_waypoint_0: 0.1674, prev_frame_loss_rl_bc_0: 0.0051, loss: 1.3245, grad_norm: 40.4820, il_score_sum: 67.3959, rl_score_sum: 69.0753, score_diff: -1.6794, il_win: 76.0000, rl_win: 546.4500
2025-09-24 20:08:14,541 - mmdet - INFO - Epoch [24][2600/3517]	lr: 2.637e-07, eta: 0:12:18, time: 0.789, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1589, debug_std_frame_0: 0.2063, debug_std_frame_1: 0.2203, debug_std_frame_2: 0.2679, debug_std_frame_3: 0.3181, debug_std_frame_4: 0.3712, debug_std_frame_5: 0.4283, loss_rl: -0.2539, loss_critic: 1.4982, loss_rl_bc: 0.0051, il_score: 0.6524, rl_score: 0.6496, prev_frame_loss_waypoint_0: 0.1682, prev_frame_loss_rl_bc_0: 0.0020, loss: 1.6041, grad_norm: 46.1908, il_score_sum: 67.3959, rl_score_sum: 69.0753, score_diff: -1.6794, il_win: 76.0000, rl_win: 546.4500
2025-09-24 20:08:30,601 - mmdet - INFO - Epoch [24][2620/3517]	lr: 2.637e-07, eta: 0:12:02, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1399, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2183, debug_std_frame_2: 0.2603, debug_std_frame_3: 0.3053, debug_std_frame_4: 0.3527, debug_std_frame_5: 0.4041, loss_rl: -0.2910, loss_critic: 1.3065, loss_rl_bc: -0.0022, il_score: 0.6774, rl_score: 0.7172, prev_frame_loss_waypoint_0: 0.1550, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.3350, grad_norm: 40.1020, il_score_sum: 67.3850, rl_score_sum: 69.1045, score_diff: -1.7194, il_win: 76.0000, rl_win: 547.4000
2025-09-24 20:08:46,625 - mmdet - INFO - Epoch [24][2640/3517]	lr: 2.637e-07, eta: 0:11:46, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1635, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2194, debug_std_frame_2: 0.2685, debug_std_frame_3: 0.3172, debug_std_frame_4: 0.3695, debug_std_frame_5: 0.4240, loss_rl: -0.2646, loss_critic: 1.4319, loss_rl_bc: 0.0027, il_score: 0.6443, rl_score: 0.6739, prev_frame_loss_waypoint_0: 0.1647, prev_frame_loss_rl_bc_0: 0.0013, loss: 1.5251, grad_norm: 33.6919, il_score_sum: 67.3850, rl_score_sum: 69.1045, score_diff: -1.7194, il_win: 76.0000, rl_win: 547.4000
2025-09-24 20:09:02,676 - mmdet - INFO - Epoch [24][2660/3517]	lr: 2.637e-07, eta: 0:11:30, time: 0.802, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1691, debug_std_frame_0: 0.2044, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2758, debug_std_frame_3: 0.3296, debug_std_frame_4: 0.3849, debug_std_frame_5: 0.4429, loss_rl: -0.2644, loss_critic: 1.2543, loss_rl_bc: 0.0045, il_score: 0.6894, rl_score: 0.7000, prev_frame_loss_waypoint_0: 0.1848, prev_frame_loss_rl_bc_0: 0.0091, loss: 1.3827, grad_norm: 27.9641, il_score_sum: 67.3850, rl_score_sum: 69.1045, score_diff: -1.7194, il_win: 76.0000, rl_win: 547.4000
2025-09-24 20:09:18,522 - mmdet - INFO - Epoch [24][2680/3517]	lr: 2.637e-07, eta: 0:11:13, time: 0.793, data_time: 0.013, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1396, debug_std_frame_0: 0.2079, debug_std_frame_1: 0.2204, debug_std_frame_2: 0.2607, debug_std_frame_3: 0.3026, debug_std_frame_4: 0.3479, debug_std_frame_5: 0.4005, loss_rl: -0.3263, loss_critic: 1.3599, loss_rl_bc: -0.0006, il_score: 0.6860, rl_score: 0.7201, prev_frame_loss_waypoint_0: 0.1555, prev_frame_loss_rl_bc_0: -0.0007, loss: 1.3514, grad_norm: 37.3731, il_score_sum: 67.3850, rl_score_sum: 69.1045, score_diff: -1.7194, il_win: 76.0000, rl_win: 547.4000
2025-09-24 20:09:34,563 - mmdet - INFO - Epoch [24][2700/3517]	lr: 2.637e-07, eta: 0:10:57, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1451, debug_std_frame_0: 0.2049, debug_std_frame_1: 0.2189, debug_std_frame_2: 0.2639, debug_std_frame_3: 0.3112, debug_std_frame_4: 0.3595, debug_std_frame_5: 0.4144, loss_rl: -0.3124, loss_critic: 1.4112, loss_rl_bc: -0.0022, il_score: 0.7174, rl_score: 0.7276, prev_frame_loss_waypoint_0: 0.1610, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.4284, grad_norm: 31.8206, il_score_sum: 67.3850, rl_score_sum: 69.1045, score_diff: -1.7194, il_win: 76.0000, rl_win: 547.4000
2025-09-24 20:09:50,682 - mmdet - INFO - Epoch [24][2720/3517]	lr: 2.637e-07, eta: 0:10:41, time: 0.805, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1638, debug_std_frame_0: 0.2068, debug_std_frame_1: 0.2255, debug_std_frame_2: 0.2746, debug_std_frame_3: 0.3277, debug_std_frame_4: 0.3808, debug_std_frame_5: 0.4390, loss_rl: -0.2837, loss_critic: 1.1064, loss_rl_bc: 0.0054, il_score: 0.7012, rl_score: 0.7012, prev_frame_loss_waypoint_0: 0.1909, prev_frame_loss_rl_bc_0: 0.0106, loss: 1.2183, grad_norm: 47.4449, il_score_sum: 67.4906, rl_score_sum: 69.1933, score_diff: -1.7028, il_win: 76.0000, rl_win: 548.3500
2025-09-24 20:10:06,983 - mmdet - INFO - Epoch [24][2740/3517]	lr: 2.637e-07, eta: 0:10:25, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1603, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2712, debug_std_frame_3: 0.3236, debug_std_frame_4: 0.3778, debug_std_frame_5: 0.4365, loss_rl: -0.2653, loss_critic: 1.2717, loss_rl_bc: 0.0039, il_score: 0.6808, rl_score: 0.6757, prev_frame_loss_waypoint_0: 0.1874, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.3916, grad_norm: 44.8731, il_score_sum: 67.4906, rl_score_sum: 69.1933, score_diff: -1.7028, il_win: 76.0000, rl_win: 548.3500
2025-09-24 20:10:22,961 - mmdet - INFO - Epoch [24][2760/3517]	lr: 2.637e-07, eta: 0:10:09, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1518, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2703, debug_std_frame_3: 0.3235, debug_std_frame_4: 0.3764, debug_std_frame_5: 0.4368, loss_rl: -0.2498, loss_critic: 1.6017, loss_rl_bc: 0.0027, il_score: 0.6597, rl_score: 0.6407, prev_frame_loss_waypoint_0: 0.1771, prev_frame_loss_rl_bc_0: 0.0079, loss: 1.7173, grad_norm: 45.0549, il_score_sum: 67.4906, rl_score_sum: 69.1933, score_diff: -1.7028, il_win: 76.0000, rl_win: 548.3500
2025-09-24 20:10:38,910 - mmdet - INFO - Epoch [24][2780/3517]	lr: 2.637e-07, eta: 0:09:53, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1628, debug_std_frame_0: 0.2039, debug_std_frame_1: 0.2161, debug_std_frame_2: 0.2616, debug_std_frame_3: 0.3097, debug_std_frame_4: 0.3611, debug_std_frame_5: 0.4152, loss_rl: -0.2582, loss_critic: 1.0638, loss_rl_bc: 0.0012, il_score: 0.6909, rl_score: 0.7154, prev_frame_loss_waypoint_0: 0.1772, prev_frame_loss_rl_bc_0: 0.0061, loss: 1.1781, grad_norm: 39.5244, il_score_sum: 67.4906, rl_score_sum: 69.1933, score_diff: -1.7028, il_win: 76.0000, rl_win: 548.3500
2025-09-24 20:10:54,882 - mmdet - INFO - Epoch [24][2800/3517]	lr: 2.637e-07, eta: 0:09:37, time: 0.798, data_time: 0.013, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1722, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2191, debug_std_frame_2: 0.2653, debug_std_frame_3: 0.3159, debug_std_frame_4: 0.3665, debug_std_frame_5: 0.4265, loss_rl: -0.2642, loss_critic: 1.4825, loss_rl_bc: 0.0093, il_score: 0.6594, rl_score: 0.6718, prev_frame_loss_waypoint_0: 0.1813, prev_frame_loss_rl_bc_0: 0.0064, loss: 1.6123, grad_norm: 40.0475, il_score_sum: 67.4906, rl_score_sum: 69.1933, score_diff: -1.7028, il_win: 76.0000, rl_win: 548.3500
2025-09-24 20:11:11,017 - mmdet - INFO - Epoch [24][2820/3517]	lr: 2.637e-07, eta: 0:09:21, time: 0.807, data_time: 0.015, memory: 8550, loss_rec: 0.0268, loss_waypoint: 0.1652, debug_std_frame_0: 0.2080, debug_std_frame_1: 0.2227, debug_std_frame_2: 0.2674, debug_std_frame_3: 0.3149, debug_std_frame_4: 0.3643, debug_std_frame_5: 0.4188, loss_rl: -0.2297, loss_critic: 1.1528, loss_rl_bc: 0.0048, il_score: 0.7071, rl_score: 0.6867, prev_frame_loss_waypoint_0: 0.1610, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.2820, grad_norm: 27.7409, il_score_sum: 67.4996, rl_score_sum: 69.1010, score_diff: -1.6014, il_win: 76.0000, rl_win: 549.2500
2025-09-24 20:11:27,011 - mmdet - INFO - Epoch [24][2840/3517]	lr: 2.637e-07, eta: 0:09:05, time: 0.800, data_time: 0.013, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1839, debug_std_frame_0: 0.2064, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2743, debug_std_frame_3: 0.3274, debug_std_frame_4: 0.3840, debug_std_frame_5: 0.4431, loss_rl: -0.2562, loss_critic: 1.1668, loss_rl_bc: 0.0092, il_score: 0.6754, rl_score: 0.6763, prev_frame_loss_waypoint_0: 0.1957, prev_frame_loss_rl_bc_0: 0.0123, loss: 1.3370, grad_norm: 41.9776, il_score_sum: 67.4996, rl_score_sum: 69.1010, score_diff: -1.6014, il_win: 76.0000, rl_win: 549.2500
2025-09-24 20:11:43,040 - mmdet - INFO - Epoch [24][2860/3517]	lr: 2.637e-07, eta: 0:08:49, time: 0.801, data_time: 0.013, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1666, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2234, debug_std_frame_2: 0.2717, debug_std_frame_3: 0.3224, debug_std_frame_4: 0.3746, debug_std_frame_5: 0.4286, loss_rl: -0.2530, loss_critic: 1.2094, loss_rl_bc: 0.0049, il_score: 0.6787, rl_score: 0.6941, prev_frame_loss_waypoint_0: 0.1770, prev_frame_loss_rl_bc_0: 0.0069, loss: 1.3377, grad_norm: 41.0879, il_score_sum: 67.4996, rl_score_sum: 69.1010, score_diff: -1.6014, il_win: 76.0000, rl_win: 549.2500
2025-09-24 20:11:58,900 - mmdet - INFO - Epoch [24][2880/3517]	lr: 2.637e-07, eta: 0:08:32, time: 0.793, data_time: 0.012, memory: 8550, loss_rec: 0.0245, loss_waypoint: 0.1686, debug_std_frame_0: 0.2050, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2695, debug_std_frame_3: 0.3220, debug_std_frame_4: 0.3772, debug_std_frame_5: 0.4339, loss_rl: -0.2527, loss_critic: 1.2022, loss_rl_bc: 0.0048, il_score: 0.6725, rl_score: 0.6963, prev_frame_loss_waypoint_0: 0.1722, prev_frame_loss_rl_bc_0: 0.0012, loss: 1.3207, grad_norm: 41.8016, il_score_sum: 67.4996, rl_score_sum: 69.1010, score_diff: -1.6014, il_win: 76.0000, rl_win: 549.2500
2025-09-24 20:12:14,960 - mmdet - INFO - Epoch [24][2900/3517]	lr: 2.637e-07, eta: 0:08:16, time: 0.803, data_time: 0.013, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1832, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2729, debug_std_frame_3: 0.3228, debug_std_frame_4: 0.3753, debug_std_frame_5: 0.4311, loss_rl: -0.2828, loss_critic: 1.1315, loss_rl_bc: 0.0337, il_score: 0.7135, rl_score: 0.7258, prev_frame_loss_waypoint_0: 0.2077, prev_frame_loss_rl_bc_0: 0.0337, loss: 1.3328, grad_norm: 42.2761, il_score_sum: 67.4996, rl_score_sum: 69.1010, score_diff: -1.6014, il_win: 76.0000, rl_win: 549.2500
2025-09-24 20:12:31,236 - mmdet - INFO - Epoch [24][2920/3517]	lr: 2.637e-07, eta: 0:08:00, time: 0.814, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1517, debug_std_frame_0: 0.2059, debug_std_frame_1: 0.2194, debug_std_frame_2: 0.2628, debug_std_frame_3: 0.3089, debug_std_frame_4: 0.3575, debug_std_frame_5: 0.4109, loss_rl: -0.3090, loss_critic: 1.4854, loss_rl_bc: 0.0024, il_score: 0.6679, rl_score: 0.6794, prev_frame_loss_waypoint_0: 0.1552, prev_frame_loss_rl_bc_0: 0.0011, loss: 1.5117, grad_norm: 32.7399, il_score_sum: 67.6265, rl_score_sum: 69.1987, score_diff: -1.5722, il_win: 76.0000, rl_win: 550.1500
2025-09-24 20:12:47,198 - mmdet - INFO - Epoch [24][2940/3517]	lr: 2.637e-07, eta: 0:07:44, time: 0.798, data_time: 0.014, memory: 8550, loss_rec: 0.0267, loss_waypoint: 0.1527, debug_std_frame_0: 0.2051, debug_std_frame_1: 0.2193, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3156, debug_std_frame_4: 0.3667, debug_std_frame_5: 0.4209, loss_rl: -0.2753, loss_critic: 1.2337, loss_rl_bc: 0.0015, il_score: 0.7066, rl_score: 0.7056, prev_frame_loss_waypoint_0: 0.1715, prev_frame_loss_rl_bc_0: 0.0006, loss: 1.3114, grad_norm: 33.9400, il_score_sum: 67.6265, rl_score_sum: 69.1987, score_diff: -1.5722, il_win: 76.0000, rl_win: 550.1500
2025-09-24 20:13:03,134 - mmdet - INFO - Epoch [24][2960/3517]	lr: 2.637e-07, eta: 0:07:28, time: 0.797, data_time: 0.012, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1715, debug_std_frame_0: 0.2039, debug_std_frame_1: 0.2189, debug_std_frame_2: 0.2670, debug_std_frame_3: 0.3148, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4189, loss_rl: -0.2895, loss_critic: 1.1302, loss_rl_bc: 0.0048, il_score: 0.6816, rl_score: 0.6958, prev_frame_loss_waypoint_0: 0.1796, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.2266, grad_norm: 38.5607, il_score_sum: 67.6265, rl_score_sum: 69.1987, score_diff: -1.5722, il_win: 76.0000, rl_win: 550.1500
2025-09-24 20:13:19,115 - mmdet - INFO - Epoch [24][2980/3517]	lr: 2.637e-07, eta: 0:07:12, time: 0.799, data_time: 0.013, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1533, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2208, debug_std_frame_2: 0.2678, debug_std_frame_3: 0.3173, debug_std_frame_4: 0.3683, debug_std_frame_5: 0.4248, loss_rl: -0.2760, loss_critic: 1.3238, loss_rl_bc: 0.0035, il_score: 0.6825, rl_score: 0.7182, prev_frame_loss_waypoint_0: 0.1830, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.4174, grad_norm: 36.3308, il_score_sum: 67.6265, rl_score_sum: 69.1987, score_diff: -1.5722, il_win: 76.0000, rl_win: 550.1500
2025-09-24 20:13:35,269 - mmdet - INFO - Epoch [24][3000/3517]	lr: 2.637e-07, eta: 0:06:56, time: 0.808, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1626, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2193, debug_std_frame_2: 0.2638, debug_std_frame_3: 0.3125, debug_std_frame_4: 0.3625, debug_std_frame_5: 0.4140, loss_rl: -0.2455, loss_critic: 1.4383, loss_rl_bc: 0.0045, il_score: 0.6655, rl_score: 0.6754, prev_frame_loss_waypoint_0: 0.1648, prev_frame_loss_rl_bc_0: 0.0032, loss: 1.5522, grad_norm: 30.3652, il_score_sum: 67.6265, rl_score_sum: 69.1987, score_diff: -1.5722, il_win: 76.0000, rl_win: 550.1500
2025-09-24 20:13:51,340 - mmdet - INFO - Epoch [24][3020/3517]	lr: 2.637e-07, eta: 0:06:40, time: 0.804, data_time: 0.014, memory: 8550, loss_rec: 0.0253, loss_waypoint: 0.1575, debug_std_frame_0: 0.2081, debug_std_frame_1: 0.2216, debug_std_frame_2: 0.2676, debug_std_frame_3: 0.3154, debug_std_frame_4: 0.3653, debug_std_frame_5: 0.4221, loss_rl: -0.2625, loss_critic: 1.4331, loss_rl_bc: 0.0045, il_score: 0.6709, rl_score: 0.6759, prev_frame_loss_waypoint_0: 0.1803, prev_frame_loss_rl_bc_0: 0.0112, loss: 1.5493, grad_norm: 38.1577, il_score_sum: 67.6464, rl_score_sum: 69.1640, score_diff: -1.5176, il_win: 76.0000, rl_win: 551.0500
2025-09-24 20:14:07,260 - mmdet - INFO - Epoch [24][3040/3517]	lr: 2.637e-07, eta: 0:06:24, time: 0.796, data_time: 0.013, memory: 8550, loss_rec: 0.0243, loss_waypoint: 0.1505, debug_std_frame_0: 0.2074, debug_std_frame_1: 0.2214, debug_std_frame_2: 0.2654, debug_std_frame_3: 0.3125, debug_std_frame_4: 0.3624, debug_std_frame_5: 0.4168, loss_rl: -0.2549, loss_critic: 1.5348, loss_rl_bc: 0.0037, il_score: 0.6450, rl_score: 0.6736, prev_frame_loss_waypoint_0: 0.1512, prev_frame_loss_rl_bc_0: 0.0019, loss: 1.6115, grad_norm: 45.1706, il_score_sum: 67.6464, rl_score_sum: 69.1640, score_diff: -1.5176, il_win: 76.0000, rl_win: 551.0500
2025-09-24 20:14:23,463 - mmdet - INFO - Epoch [24][3060/3517]	lr: 2.637e-07, eta: 0:06:07, time: 0.810, data_time: 0.013, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1625, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2212, debug_std_frame_2: 0.2721, debug_std_frame_3: 0.3227, debug_std_frame_4: 0.3765, debug_std_frame_5: 0.4314, loss_rl: -0.2996, loss_critic: 1.3999, loss_rl_bc: 0.0088, il_score: 0.6532, rl_score: 0.6654, prev_frame_loss_waypoint_0: 0.1704, prev_frame_loss_rl_bc_0: 0.0045, loss: 1.4717, grad_norm: 39.6064, il_score_sum: 67.6464, rl_score_sum: 69.1640, score_diff: -1.5176, il_win: 76.0000, rl_win: 551.0500
2025-09-24 20:14:39,214 - mmdet - INFO - Epoch [24][3080/3517]	lr: 2.637e-07, eta: 0:05:51, time: 0.788, data_time: 0.012, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1626, debug_std_frame_0: 0.2065, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2684, debug_std_frame_3: 0.3177, debug_std_frame_4: 0.3675, debug_std_frame_5: 0.4234, loss_rl: -0.2905, loss_critic: 1.4409, loss_rl_bc: 0.0037, il_score: 0.6566, rl_score: 0.6854, prev_frame_loss_waypoint_0: 0.1662, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.5109, grad_norm: 30.8751, il_score_sum: 67.6464, rl_score_sum: 69.1640, score_diff: -1.5176, il_win: 76.0000, rl_win: 551.0500
2025-09-24 20:14:55,049 - mmdet - INFO - Epoch [24][3100/3517]	lr: 2.637e-07, eta: 0:05:35, time: 0.792, data_time: 0.013, memory: 8550, loss_rec: 0.0252, loss_waypoint: 0.1622, debug_std_frame_0: 0.2061, debug_std_frame_1: 0.2210, debug_std_frame_2: 0.2705, debug_std_frame_3: 0.3216, debug_std_frame_4: 0.3722, debug_std_frame_5: 0.4270, loss_rl: -0.2912, loss_critic: 1.3862, loss_rl_bc: 0.0082, il_score: 0.6757, rl_score: 0.6847, prev_frame_loss_waypoint_0: 0.1689, prev_frame_loss_rl_bc_0: 0.0054, loss: 1.4648, grad_norm: 35.0480, il_score_sum: 67.6464, rl_score_sum: 69.1640, score_diff: -1.5176, il_win: 76.0000, rl_win: 551.0500
2025-09-24 20:15:11,190 - mmdet - INFO - Epoch [24][3120/3517]	lr: 2.637e-07, eta: 0:05:19, time: 0.807, data_time: 0.012, memory: 8550, loss_rec: 0.0247, loss_waypoint: 0.1524, debug_std_frame_0: 0.2057, debug_std_frame_1: 0.2182, debug_std_frame_2: 0.2610, debug_std_frame_3: 0.3069, debug_std_frame_4: 0.3561, debug_std_frame_5: 0.4090, loss_rl: -0.2891, loss_critic: 1.3972, loss_rl_bc: 0.0004, il_score: 0.6851, rl_score: 0.7006, prev_frame_loss_waypoint_0: 0.1557, prev_frame_loss_rl_bc_0: -0.0003, loss: 1.4410, grad_norm: 36.6459, il_score_sum: 67.5653, rl_score_sum: 69.1235, score_diff: -1.5583, il_win: 76.0000, rl_win: 551.9500
2025-09-24 20:15:27,224 - mmdet - INFO - Epoch [24][3140/3517]	lr: 2.637e-07, eta: 0:05:03, time: 0.802, data_time: 0.014, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1616, debug_std_frame_0: 0.2058, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2640, debug_std_frame_3: 0.3123, debug_std_frame_4: 0.3615, debug_std_frame_5: 0.4148, loss_rl: -0.2561, loss_critic: 1.4213, loss_rl_bc: 0.0052, il_score: 0.6401, rl_score: 0.6797, prev_frame_loss_waypoint_0: 0.1602, prev_frame_loss_rl_bc_0: 0.0049, loss: 1.5221, grad_norm: 32.1114, il_score_sum: 67.5653, rl_score_sum: 69.1235, score_diff: -1.5583, il_win: 76.0000, rl_win: 551.9500
2025-09-24 20:15:43,199 - mmdet - INFO - Epoch [24][3160/3517]	lr: 2.637e-07, eta: 0:04:47, time: 0.799, data_time: 0.012, memory: 8550, loss_rec: 0.0239, loss_waypoint: 0.1708, debug_std_frame_0: 0.2062, debug_std_frame_1: 0.2229, debug_std_frame_2: 0.2726, debug_std_frame_3: 0.3243, debug_std_frame_4: 0.3788, debug_std_frame_5: 0.4391, loss_rl: -0.2748, loss_critic: 1.5882, loss_rl_bc: 0.0079, il_score: 0.6659, rl_score: 0.6731, prev_frame_loss_waypoint_0: 0.1781, prev_frame_loss_rl_bc_0: 0.0094, loss: 1.7035, grad_norm: 40.2436, il_score_sum: 67.5653, rl_score_sum: 69.1235, score_diff: -1.5583, il_win: 76.0000, rl_win: 551.9500
2025-09-24 20:15:59,144 - mmdet - INFO - Epoch [24][3180/3517]	lr: 2.637e-07, eta: 0:04:31, time: 0.797, data_time: 0.013, memory: 8550, loss_rec: 0.0261, loss_waypoint: 0.1733, debug_std_frame_0: 0.2044, debug_std_frame_1: 0.2175, debug_std_frame_2: 0.2702, debug_std_frame_3: 0.3215, debug_std_frame_4: 0.3741, debug_std_frame_5: 0.4284, loss_rl: -0.2600, loss_critic: 1.0010, loss_rl_bc: 0.0057, il_score: 0.6732, rl_score: 0.6950, prev_frame_loss_waypoint_0: 0.1779, prev_frame_loss_rl_bc_0: 0.0048, loss: 1.1288, grad_norm: 38.1518, il_score_sum: 67.5653, rl_score_sum: 69.1235, score_diff: -1.5583, il_win: 76.0000, rl_win: 551.9500
2025-09-24 20:16:15,194 - mmdet - INFO - Epoch [24][3200/3517]	lr: 2.637e-07, eta: 0:04:15, time: 0.802, data_time: 0.012, memory: 8550, loss_rec: 0.0244, loss_waypoint: 0.1607, debug_std_frame_0: 0.2052, debug_std_frame_1: 0.2192, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3171, debug_std_frame_4: 0.3667, debug_std_frame_5: 0.4189, loss_rl: -0.2949, loss_critic: 1.2588, loss_rl_bc: 0.0057, il_score: 0.6995, rl_score: 0.7103, prev_frame_loss_waypoint_0: 0.1654, prev_frame_loss_rl_bc_0: 0.0010, loss: 1.3212, grad_norm: 38.5327, il_score_sum: 67.5653, rl_score_sum: 69.1235, score_diff: -1.5583, il_win: 76.0000, rl_win: 551.9500
2025-09-24 20:16:31,899 - mmdet - INFO - Epoch [24][3220/3517]	lr: 2.637e-07, eta: 0:03:59, time: 0.836, data_time: 0.013, memory: 8550, loss_rec: 0.0258, loss_waypoint: 0.1552, debug_std_frame_0: 0.2044, debug_std_frame_1: 0.2197, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3194, debug_std_frame_4: 0.3707, debug_std_frame_5: 0.4259, loss_rl: -0.2671, loss_critic: 1.4056, loss_rl_bc: 0.0024, il_score: 0.6490, rl_score: 0.6920, prev_frame_loss_waypoint_0: 0.1814, prev_frame_loss_rl_bc_0: 0.0057, loss: 1.5091, grad_norm: 36.6345, il_score_sum: 67.5244, rl_score_sum: 69.1011, score_diff: -1.5766, il_win: 76.0000, rl_win: 552.8500
2025-09-24 20:16:48,053 - mmdet - INFO - Epoch [24][3240/3517]	lr: 2.637e-07, eta: 0:03:43, time: 0.808, data_time: 0.011, memory: 8550, loss_rec: 0.0255, loss_waypoint: 0.1509, debug_std_frame_0: 0.2056, debug_std_frame_1: 0.2193, debug_std_frame_2: 0.2671, debug_std_frame_3: 0.3164, debug_std_frame_4: 0.3677, debug_std_frame_5: 0.4238, loss_rl: -0.2931, loss_critic: 1.4217, loss_rl_bc: 0.0053, il_score: 0.6854, rl_score: 0.6647, prev_frame_loss_waypoint_0: 0.1654, prev_frame_loss_rl_bc_0: 0.0027, loss: 1.4783, grad_norm: 33.1636, il_score_sum: 67.5244, rl_score_sum: 69.1011, score_diff: -1.5766, il_win: 76.0000, rl_win: 552.8500
2025-09-24 20:17:04,168 - mmdet - INFO - Epoch [24][3260/3517]	lr: 2.637e-07, eta: 0:03:26, time: 0.806, data_time: 0.012, memory: 8550, loss_rec: 0.0251, loss_waypoint: 0.1654, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2170, debug_std_frame_2: 0.2642, debug_std_frame_3: 0.3135, debug_std_frame_4: 0.3634, debug_std_frame_5: 0.4176, loss_rl: -0.2496, loss_critic: 1.3259, loss_rl_bc: 0.0075, il_score: 0.6638, rl_score: 0.6844, prev_frame_loss_waypoint_0: 0.1831, prev_frame_loss_rl_bc_0: 0.0076, loss: 1.4650, grad_norm: 40.3515, il_score_sum: 67.5244, rl_score_sum: 69.1011, score_diff: -1.5766, il_win: 76.0000, rl_win: 552.8500
2025-09-24 20:17:20,420 - mmdet - INFO - Epoch [24][3280/3517]	lr: 2.637e-07, eta: 0:03:10, time: 0.813, data_time: 0.011, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1553, debug_std_frame_0: 0.2026, debug_std_frame_1: 0.2178, debug_std_frame_2: 0.2659, debug_std_frame_3: 0.3160, debug_std_frame_4: 0.3676, debug_std_frame_5: 0.4195, loss_rl: -0.2953, loss_critic: 1.3148, loss_rl_bc: -0.0005, il_score: 0.7039, rl_score: 0.7129, prev_frame_loss_waypoint_0: 0.1652, prev_frame_loss_rl_bc_0: 0.0050, loss: 1.3694, grad_norm: 33.7458, il_score_sum: 67.5244, rl_score_sum: 69.1011, score_diff: -1.5766, il_win: 76.0000, rl_win: 552.8500
2025-09-24 20:17:36,716 - mmdet - INFO - Epoch [24][3300/3517]	lr: 2.637e-07, eta: 0:02:54, time: 0.815, data_time: 0.013, memory: 8550, loss_rec: 0.0250, loss_waypoint: 0.1816, debug_std_frame_0: 0.2060, debug_std_frame_1: 0.2187, debug_std_frame_2: 0.2660, debug_std_frame_3: 0.3183, debug_std_frame_4: 0.3693, debug_std_frame_5: 0.4246, loss_rl: -0.2620, loss_critic: 1.1739, loss_rl_bc: 0.0104, il_score: 0.6934, rl_score: 0.6937, prev_frame_loss_waypoint_0: 0.1642, prev_frame_loss_rl_bc_0: 0.0056, loss: 1.2987, grad_norm: 35.6451, il_score_sum: 67.5244, rl_score_sum: 69.1011, score_diff: -1.5766, il_win: 76.0000, rl_win: 552.8500
2025-09-24 20:17:53,018 - mmdet - INFO - Epoch [24][3320/3517]	lr: 2.637e-07, eta: 0:02:38, time: 0.815, data_time: 0.012, memory: 8550, loss_rec: 0.0240, loss_waypoint: 0.1447, debug_std_frame_0: 0.2055, debug_std_frame_1: 0.2194, debug_std_frame_2: 0.2676, debug_std_frame_3: 0.3167, debug_std_frame_4: 0.3636, debug_std_frame_5: 0.4180, loss_rl: -0.2871, loss_critic: 1.2779, loss_rl_bc: 0.0001, il_score: 0.6997, rl_score: 0.7101, prev_frame_loss_waypoint_0: 0.1692, prev_frame_loss_rl_bc_0: 0.0015, loss: 1.3304, grad_norm: 42.8875, il_score_sum: 67.5653, rl_score_sum: 69.1070, score_diff: -1.5416, il_win: 76.0000, rl_win: 553.7000
2025-09-24 20:18:09,187 - mmdet - INFO - Epoch [24][3340/3517]	lr: 2.637e-07, eta: 0:02:22, time: 0.808, data_time: 0.012, memory: 8550, loss_rec: 0.0269, loss_waypoint: 0.1822, debug_std_frame_0: 0.2067, debug_std_frame_1: 0.2230, debug_std_frame_2: 0.2727, debug_std_frame_3: 0.3275, debug_std_frame_4: 0.3822, debug_std_frame_5: 0.4400, loss_rl: -0.2602, loss_critic: 1.2839, loss_rl_bc: 0.0108, il_score: 0.6691, rl_score: 0.6882, prev_frame_loss_waypoint_0: 0.1980, prev_frame_loss_rl_bc_0: 0.0121, loss: 1.4539, grad_norm: 41.7391, il_score_sum: 67.5653, rl_score_sum: 69.1070, score_diff: -1.5416, il_win: 76.0000, rl_win: 553.7000
2025-09-24 20:18:25,192 - mmdet - INFO - Epoch [24][3360/3517]	lr: 2.637e-07, eta: 0:02:06, time: 0.800, data_time: 0.012, memory: 8550, loss_rec: 0.0249, loss_waypoint: 0.1367, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2188, debug_std_frame_2: 0.2627, debug_std_frame_3: 0.3113, debug_std_frame_4: 0.3622, debug_std_frame_5: 0.4189, loss_rl: -0.3017, loss_critic: 1.2174, loss_rl_bc: -0.0008, il_score: 0.6846, rl_score: 0.6982, prev_frame_loss_waypoint_0: 0.1600, prev_frame_loss_rl_bc_0: 0.0017, loss: 1.2382, grad_norm: 34.6144, il_score_sum: 67.5653, rl_score_sum: 69.1070, score_diff: -1.5416, il_win: 76.0000, rl_win: 553.7000
2025-09-24 20:18:41,550 - mmdet - INFO - Epoch [24][3380/3517]	lr: 2.637e-07, eta: 0:01:50, time: 0.818, data_time: 0.012, memory: 8550, loss_rec: 0.0260, loss_waypoint: 0.1626, debug_std_frame_0: 0.2071, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2669, debug_std_frame_3: 0.3141, debug_std_frame_4: 0.3634, debug_std_frame_5: 0.4137, loss_rl: -0.2755, loss_critic: 1.3297, loss_rl_bc: 0.0045, il_score: 0.6911, rl_score: 0.6954, prev_frame_loss_waypoint_0: 0.1657, prev_frame_loss_rl_bc_0: 0.0063, loss: 1.4194, grad_norm: 44.1183, il_score_sum: 67.5653, rl_score_sum: 69.1070, score_diff: -1.5416, il_win: 76.0000, rl_win: 553.7000
2025-09-24 20:18:57,808 - mmdet - INFO - Epoch [24][3400/3517]	lr: 2.637e-07, eta: 0:01:34, time: 0.813, data_time: 0.012, memory: 8550, loss_rec: 0.0257, loss_waypoint: 0.1655, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2211, debug_std_frame_2: 0.2707, debug_std_frame_3: 0.3218, debug_std_frame_4: 0.3758, debug_std_frame_5: 0.4333, loss_rl: -0.2635, loss_critic: 1.2881, loss_rl_bc: 0.0058, il_score: 0.6635, rl_score: 0.6844, prev_frame_loss_waypoint_0: 0.1839, prev_frame_loss_rl_bc_0: 0.0090, loss: 1.4144, grad_norm: 41.6723, il_score_sum: 67.5653, rl_score_sum: 69.1070, score_diff: -1.5416, il_win: 76.0000, rl_win: 553.7000
2025-09-24 20:19:14,243 - mmdet - INFO - Epoch [24][3420/3517]	lr: 2.637e-07, eta: 0:01:18, time: 0.821, data_time: 0.013, memory: 8550, loss_rec: 0.0256, loss_waypoint: 0.1612, debug_std_frame_0: 0.2046, debug_std_frame_1: 0.2182, debug_std_frame_2: 0.2681, debug_std_frame_3: 0.3205, debug_std_frame_4: 0.3712, debug_std_frame_5: 0.4247, loss_rl: -0.2607, loss_critic: 1.4293, loss_rl_bc: 0.0049, il_score: 0.6753, rl_score: 0.6874, prev_frame_loss_waypoint_0: 0.1910, prev_frame_loss_rl_bc_0: 0.0226, loss: 1.5737, grad_norm: 40.2731, il_score_sum: 67.6109, rl_score_sum: 69.1292, score_diff: -1.5184, il_win: 76.0000, rl_win: 554.5500
2025-09-24 20:19:30,274 - mmdet - INFO - Epoch [24][3440/3517]	lr: 2.637e-07, eta: 0:01:02, time: 0.802, data_time: 0.013, memory: 8550, loss_rec: 0.0254, loss_waypoint: 0.1645, debug_std_frame_0: 0.2054, debug_std_frame_1: 0.2209, debug_std_frame_2: 0.2713, debug_std_frame_3: 0.3208, debug_std_frame_4: 0.3718, debug_std_frame_5: 0.4262, loss_rl: -0.2731, loss_critic: 1.1270, loss_rl_bc: 0.0031, il_score: 0.6974, rl_score: 0.7057, prev_frame_loss_waypoint_0: 0.1849, prev_frame_loss_rl_bc_0: 0.0093, loss: 1.2411, grad_norm: 36.4249, il_score_sum: 67.6109, rl_score_sum: 69.1292, score_diff: -1.5184, il_win: 76.0000, rl_win: 554.5500
2025-09-24 20:19:46,384 - mmdet - INFO - Epoch [24][3460/3517]	lr: 2.637e-07, eta: 0:00:45, time: 0.805, data_time: 0.014, memory: 8550, loss_rec: 0.0246, loss_waypoint: 0.1556, debug_std_frame_0: 0.2069, debug_std_frame_1: 0.2222, debug_std_frame_2: 0.2699, debug_std_frame_3: 0.3175, debug_std_frame_4: 0.3706, debug_std_frame_5: 0.4247, loss_rl: -0.2419, loss_critic: 1.4862, loss_rl_bc: 0.0032, il_score: 0.6468, rl_score: 0.6670, prev_frame_loss_waypoint_0: 0.1615, prev_frame_loss_rl_bc_0: 0.0013, loss: 1.5904, grad_norm: 44.1058, il_score_sum: 67.6109, rl_score_sum: 69.1292, score_diff: -1.5184, il_win: 76.0000, rl_win: 554.5500
2025-09-24 20:20:02,099 - mmdet - INFO - Epoch [24][3480/3517]	lr: 2.637e-07, eta: 0:00:29, time: 0.786, data_time: 0.013, memory: 8550, loss_rec: 0.0242, loss_waypoint: 0.1657, debug_std_frame_0: 0.2091, debug_std_frame_1: 0.2248, debug_std_frame_2: 0.2719, debug_std_frame_3: 0.3219, debug_std_frame_4: 0.3736, debug_std_frame_5: 0.4321, loss_rl: -0.2504, loss_critic: 1.2574, loss_rl_bc: 0.0043, il_score: 0.6711, rl_score: 0.7013, prev_frame_loss_waypoint_0: 0.1719, prev_frame_loss_rl_bc_0: 0.0031, loss: 1.3762, grad_norm: 34.0861, il_score_sum: 67.6109, rl_score_sum: 69.1292, score_diff: -1.5184, il_win: 76.0000, rl_win: 554.5500
2025-09-24 20:20:17,910 - mmdet - INFO - Epoch [24][3500/3517]	lr: 2.637e-07, eta: 0:00:13, time: 0.791, data_time: 0.014, memory: 8550, loss_rec: 0.0248, loss_waypoint: 0.1518, debug_std_frame_0: 0.2053, debug_std_frame_1: 0.2192, debug_std_frame_2: 0.2625, debug_std_frame_3: 0.3081, debug_std_frame_4: 0.3548, debug_std_frame_5: 0.4048, loss_rl: -0.2653, loss_critic: 1.3643, loss_rl_bc: 0.0027, il_score: 0.6921, rl_score: 0.6991, prev_frame_loss_waypoint_0: 0.1640, prev_frame_loss_rl_bc_0: 0.0033, loss: 1.4455, grad_norm: 34.1069, il_score_sum: 67.6109, rl_score_sum: 69.1292, score_diff: -1.5184, il_win: 76.0000, rl_win: 554.5500
2025-09-24 20:20:31,259 - mmdet - INFO - Saving checkpoint at 24 epochs
2025-09-24 20:23:06,934 - mmdet - INFO - Exp name: decoupled_actor+diagonal_gaussian+use_critic.py
2025-09-24 20:23:06,934 - mmdet - INFO - Epoch(val) [24][753]	plan_L2_1s: 0.3055, plan_L2_2s: 0.6099, plan_L2_3s: 1.0251, plan_obj_col_1s: 0.0000, plan_obj_col_2s: 0.0000, plan_obj_col_3s: 0.0000, plan_obj_box_col_1s: 0.0029, plan_obj_box_col_2s: 0.0025, plan_obj_box_col_3s: 0.0058, fut_valid_flag: 1.0000, plan_L2_1s_rl_actor: 0.3022, plan_L2_2s_rl_actor: 0.6096, plan_L2_3s_rl_actor: 1.0290, plan_obj_col_1s_rl_actor: 0.0000, plan_obj_col_2s_rl_actor: 0.0000, plan_obj_col_3s_rl_actor: 0.0001, plan_obj_box_col_1s_rl_actor: 0.0070, plan_obj_box_col_2s_rl_actor: 0.0079, plan_obj_box_col_3s_rl_actor: 0.0110, fut_valid_flag_rl_actor: 1.0000