{ "package_id": "Text2Loc/PandaSetPose-50-25-25/bb0/a_recovered", "created": "2026-10-27", "inference": "(feats - mean) / std per column, then MLP 23->64->32->1 (ReLU, no output activation)", "pinned_rule": "columns with TRAIN std < 1e-3 pinned to std=1.0", "heads": [ { "method": "Text2Loc", "dataset_version": "PandaSetPose-50-25-25", "backbone_seed": 0, "head_seed": 0, "source_path": "", "bytes": 27312, "mean": [ 0.5669337511062622, 0.5, 0.5459906458854675, 0.5000000596046448, 0.5000000596046448, 0.15268950164318085, 0.15276680886745453, 0.229922816157341, 0.5, -0.022951766848564148, 0.0024951279629021883, 0.04290569946169853, 0.22770726680755615, 0.1831778734922409, 0.5, 0.4999978542327881, 0.5, 0.38118883967399597, 0.5453479290008545, 1.401611089706421, 1.4103889465332031, 1.4579168558120728, 1.4579821825027466 ], "std": [ 0.12235581129789352, 0.3004816472530365, 0.2674662172794342, 0.3004816472530365, 0.3004816472530365, 0.3597407042980194, 0.13271069526672363, 0.3447522521018982, 0.3004816472530365, 0.05036038160324097, 0.029956268146634102, 0.04610566422343254, 0.34197258949279785, 0.28004446625709534, 0.3004816472530365, 0.2907409071922302, 0.3004816472530365, 0.16974985599517822, 0.2676073908805847, 0.9943775534629822, 0.9931334257125854, 0.9741227626800537, 0.9749917984008789 ], "pinned": [ false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false ], "feature_names": [ "cos", "cos_rank", "sp", "p0_rank", "p2_rank", "is_tied", "tied_size", "sc_center", "sc_center_rank", "off_dx", "off_dy", "off_norm", "sc_fine", "sat_fine", "sc_fine_rank", "borda", "c_rank", "n_obj", "n_matched", "dist_nearest_matched", "dist_centroid_matched", "pred_dist_anchor", "center_dist_anchor" ], "config": { "epochs": 30, "lr": 0.001, "wd": 0.0001, "batch": 512, "hidden": [ 64, 32 ], "loss": "listwise_softmax_ce", "seed": 0, "k": 25, "norms": { "pool_norm": 24, "rank_norm": 24, "tied_norm": 25 } }, "selection": { "rule": "max VAL cell R@1, tie max top1@5m, earlier epoch", "epoch": 11, "key": [ 0.4965, 0.432 ], "val_cell": { "R@1": 0.4965, "R@2": 0.6415, "R@3": 0.7175, "R@5": 0.827, "R@10": 0.9235, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.432, "top3@5m": 0.6215, "top5@5m": 0.7195, "top10@5m": 0.8035 } }, "history": [ { "epoch": 1, "loss": 3.236658136473821, "train_top1": 0.27400336889387983, "val_cell": { "R@1": 0.266, "R@2": 0.3925, "R@3": 0.473, "R@5": 0.647, "R@10": 0.864, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.247, "top3@5m": 0.435, "top5@5m": 0.5785, "top10@5m": 0.751 } }, { "epoch": 2, "loss": 3.0259496626192637, "train_top1": 0.41998877035373383, "val_cell": { "R@1": 0.373, "R@2": 0.529, "R@3": 0.6045, "R@5": 0.772, "R@10": 0.914, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3405, "top3@5m": 0.5345, "top5@5m": 0.668, "top10@5m": 0.7925 } }, { "epoch": 3, "loss": 2.805697795181446, "train_top1": 0.45311622683885455, "val_cell": { "R@1": 0.402, "R@2": 0.552, "R@3": 0.6355, "R@5": 0.7855, "R@10": 0.921, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3655, "top3@5m": 0.556, "top5@5m": 0.6775, "top10@5m": 0.799 } }, { "epoch": 4, "loss": 2.5496259573669264, "train_top1": 0.47417181358787197, "val_cell": { "R@1": 0.412, "R@2": 0.5655, "R@3": 0.6705, "R@5": 0.794, "R@10": 0.9225, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3765, "top3@5m": 0.588, "top5@5m": 0.6855, "top10@5m": 0.8005 } }, { "epoch": 5, "loss": 2.295440343442357, "train_top1": 0.48680516563728243, "val_cell": { "R@1": 0.4145, "R@2": 0.57, "R@3": 0.689, "R@5": 0.8055, "R@10": 0.9225, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3775, "top3@5m": 0.5925, "top5@5m": 0.6965, "top10@5m": 0.8005 } }, { "epoch": 6, "loss": 2.0714800472944925, "train_top1": 0.5005614823133071, "val_cell": { "R@1": 0.4265, "R@2": 0.595, "R@3": 0.692, "R@5": 0.8115, "R@10": 0.9225, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3825, "top3@5m": 0.5975, "top5@5m": 0.704, "top10@5m": 0.801 } }, { "epoch": 7, "loss": 1.891511793018793, "train_top1": 0.5165637282425604, "val_cell": { "R@1": 0.4365, "R@2": 0.6015, "R@3": 0.7005, "R@5": 0.822, "R@10": 0.924, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.389, "top3@5m": 0.6055, "top5@5m": 0.717, "top10@5m": 0.8025 } }, { "epoch": 8, "loss": 1.7530629585995425, "train_top1": 0.5404267265581134, "val_cell": { "R@1": 0.4535, "R@2": 0.633, "R@3": 0.7045, "R@5": 0.8265, "R@10": 0.9255, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.407, "top3@5m": 0.6095, "top5@5m": 0.7185, "top10@5m": 0.803 } }, { "epoch": 9, "loss": 1.6426137213891707, "train_top1": 0.56850084222347, "val_cell": { "R@1": 0.476, "R@2": 0.6365, "R@3": 0.7135, "R@5": 0.823, "R@10": 0.932, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4125, "top3@5m": 0.6205, "top5@5m": 0.7155, "top10@5m": 0.81 } }, { "epoch": 10, "loss": 1.5645390994625101, "train_top1": 0.5774845592363841, "val_cell": { "R@1": 0.4925, "R@2": 0.6415, "R@3": 0.71, "R@5": 0.8245, "R@10": 0.9275, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4265, "top3@5m": 0.616, "top5@5m": 0.716, "top10@5m": 0.809 } }, { "epoch": 11, "loss": 1.5090779821100293, "train_top1": 0.5830993823694554, "val_cell": { "R@1": 0.4965, "R@2": 0.6415, "R@3": 0.7175, "R@5": 0.827, "R@10": 0.9235, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.432, "top3@5m": 0.6215, "top5@5m": 0.7195, "top10@5m": 0.8035 } }, { "epoch": 12, "loss": 1.4673231645355995, "train_top1": 0.590398652442448, "val_cell": { "R@1": 0.4755, "R@2": 0.643, "R@3": 0.723, "R@5": 0.8245, "R@10": 0.9205, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4115, "top3@5m": 0.6265, "top5@5m": 0.717, "top10@5m": 0.8005 } }, { "epoch": 13, "loss": 1.4346358478905978, "train_top1": 0.6019090398652442, "val_cell": { "R@1": 0.4725, "R@2": 0.648, "R@3": 0.7245, "R@5": 0.826, "R@10": 0.9195, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.412, "top3@5m": 0.6305, "top5@5m": 0.7175, "top10@5m": 0.796 } }, { "epoch": 14, "loss": 1.4097560674939378, "train_top1": 0.5976979225154407, "val_cell": { "R@1": 0.469, "R@2": 0.6545, "R@3": 0.726, "R@5": 0.823, "R@10": 0.9195, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.409, "top3@5m": 0.6315, "top5@5m": 0.716, "top10@5m": 0.796 } }, { "epoch": 15, "loss": 1.3912031588294678, "train_top1": 0.5993823694553622, "val_cell": { "R@1": 0.462, "R@2": 0.658, "R@3": 0.7235, "R@5": 0.8225, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4055, "top3@5m": 0.629, "top5@5m": 0.716, "top10@5m": 0.7955 } }, { "epoch": 16, "loss": 1.3768970681870003, "train_top1": 0.6030320044918585, "val_cell": { "R@1": 0.462, "R@2": 0.653, "R@3": 0.721, "R@5": 0.822, "R@10": 0.9135, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4075, "top3@5m": 0.6265, "top5@5m": 0.7135, "top10@5m": 0.7915 } }, { "epoch": 17, "loss": 1.3645858672279645, "train_top1": 0.6069623806850084, "val_cell": { "R@1": 0.4615, "R@2": 0.656, "R@3": 0.726, "R@5": 0.827, "R@10": 0.915, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4065, "top3@5m": 0.63, "top5@5m": 0.716, "top10@5m": 0.794 } }, { "epoch": 18, "loss": 1.354198658754155, "train_top1": 0.6094890510948905, "val_cell": { "R@1": 0.465, "R@2": 0.657, "R@3": 0.7265, "R@5": 0.8285, "R@10": 0.9145, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4095, "top3@5m": 0.6295, "top5@5m": 0.717, "top10@5m": 0.7945 } }, { "epoch": 19, "loss": 1.3448526636393534, "train_top1": 0.6103312745648513, "val_cell": { "R@1": 0.463, "R@2": 0.6575, "R@3": 0.7265, "R@5": 0.8265, "R@10": 0.913, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4085, "top3@5m": 0.63, "top5@5m": 0.7155, "top10@5m": 0.794 } }, { "epoch": 20, "loss": 1.336715603664576, "train_top1": 0.6153846153846154, "val_cell": { "R@1": 0.4745, "R@2": 0.6575, "R@3": 0.7275, "R@5": 0.8295, "R@10": 0.9145, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4165, "top3@5m": 0.631, "top5@5m": 0.717, "top10@5m": 0.796 } }, { "epoch": 21, "loss": 1.3291299240700252, "train_top1": 0.6184727681078046, "val_cell": { "R@1": 0.475, "R@2": 0.6585, "R@3": 0.727, "R@5": 0.8315, "R@10": 0.914, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.417, "top3@5m": 0.6305, "top5@5m": 0.7185, "top10@5m": 0.7955 } }, { "epoch": 22, "loss": 1.3221326748485447, "train_top1": 0.6173498034811904, "val_cell": { "R@1": 0.4755, "R@2": 0.658, "R@3": 0.7275, "R@5": 0.8325, "R@10": 0.9165, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4175, "top3@5m": 0.631, "top5@5m": 0.719, "top10@5m": 0.7975 } }, { "epoch": 23, "loss": 1.316849771541936, "train_top1": 0.6204379562043796, "val_cell": { "R@1": 0.4745, "R@2": 0.6585, "R@3": 0.728, "R@5": 0.835, "R@10": 0.9165, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.416, "top3@5m": 0.6315, "top5@5m": 0.7215, "top10@5m": 0.7975 } }, { "epoch": 24, "loss": 1.3101918598964333, "train_top1": 0.6209994385176867, "val_cell": { "R@1": 0.481, "R@2": 0.6585, "R@3": 0.7335, "R@5": 0.8385, "R@10": 0.918, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.422, "top3@5m": 0.6355, "top5@5m": 0.725, "top10@5m": 0.799 } }, { "epoch": 25, "loss": 1.3048968319140546, "train_top1": 0.622122403144301, "val_cell": { "R@1": 0.4775, "R@2": 0.66, "R@3": 0.7325, "R@5": 0.838, "R@10": 0.918, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4185, "top3@5m": 0.634, "top5@5m": 0.7245, "top10@5m": 0.7985 } }, { "epoch": 26, "loss": 1.2995754673131592, "train_top1": 0.6246490735541831, "val_cell": { "R@1": 0.481, "R@2": 0.6595, "R@3": 0.733, "R@5": 0.839, "R@10": 0.919, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.422, "top3@5m": 0.6335, "top5@5m": 0.726, "top10@5m": 0.7985 } }, { "epoch": 27, "loss": 1.2950725836542334, "train_top1": 0.6271757439640652, "val_cell": { "R@1": 0.4815, "R@2": 0.6595, "R@3": 0.735, "R@5": 0.8415, "R@10": 0.9175, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.422, "top3@5m": 0.636, "top5@5m": 0.728, "top10@5m": 0.797 } }, { "epoch": 28, "loss": 1.2906567611967426, "train_top1": 0.6302638966872544, "val_cell": { "R@1": 0.484, "R@2": 0.66, "R@3": 0.736, "R@5": 0.8425, "R@10": 0.9175, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4235, "top3@5m": 0.6365, "top5@5m": 0.732, "top10@5m": 0.797 } }, { "epoch": 29, "loss": 1.286452881343441, "train_top1": 0.6299831555306008, "val_cell": { "R@1": 0.484, "R@2": 0.6585, "R@3": 0.738, "R@5": 0.849, "R@10": 0.919, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4235, "top3@5m": 0.639, "top5@5m": 0.736, "top10@5m": 0.798 } }, { "epoch": 30, "loss": 1.2826621955462483, "train_top1": 0.6305446378439079, "val_cell": { "R@1": 0.483, "R@2": 0.659, "R@3": 0.7365, "R@5": 0.847, "R@10": 0.918, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.422, "top3@5m": 0.637, "top5@5m": 0.7365, "top10@5m": 0.797 } } ], "train_npz": "", "val_npz": "", "state_dict_shapes": { "net.0.weight": [ 64, 23 ], "net.0.bias": [ 64 ], "net.2.weight": [ 32, 64 ], "net.2.bias": [ 32 ], "net.4.weight": [ 1, 32 ], "net.4.bias": [ 1 ] }, "file": "heads/head_seed0_ht23.pt", "sha256": "be3a90346ce09e7b1367879f13e72bb81dbdb2811c4cccaad8165814104b3fb0" }, { "method": "Text2Loc", "dataset_version": "PandaSetPose-50-25-25", "backbone_seed": 0, "head_seed": 1, "source_path": "", "bytes": 27312, "mean": [ 0.5669337511062622, 0.5, 0.5459906458854675, 0.5000000596046448, 0.5000000596046448, 0.15268950164318085, 0.15276680886745453, 0.229922816157341, 0.5, -0.022951766848564148, 0.0024951279629021883, 0.04290569946169853, 0.22770726680755615, 0.1831778734922409, 0.5, 0.4999978542327881, 0.5, 0.38118883967399597, 0.5453479290008545, 1.401611089706421, 1.4103889465332031, 1.4579168558120728, 1.4579821825027466 ], "std": [ 0.12235581129789352, 0.3004816472530365, 0.2674662172794342, 0.3004816472530365, 0.3004816472530365, 0.3597407042980194, 0.13271069526672363, 0.3447522521018982, 0.3004816472530365, 0.05036038160324097, 0.029956268146634102, 0.04610566422343254, 0.34197258949279785, 0.28004446625709534, 0.3004816472530365, 0.2907409071922302, 0.3004816472530365, 0.16974985599517822, 0.2676073908805847, 0.9943775534629822, 0.9931334257125854, 0.9741227626800537, 0.9749917984008789 ], "pinned": [ false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false ], "feature_names": [ "cos", "cos_rank", "sp", "p0_rank", "p2_rank", "is_tied", "tied_size", "sc_center", "sc_center_rank", "off_dx", "off_dy", "off_norm", "sc_fine", "sat_fine", "sc_fine_rank", "borda", "c_rank", "n_obj", "n_matched", "dist_nearest_matched", "dist_centroid_matched", "pred_dist_anchor", "center_dist_anchor" ], "config": { "epochs": 30, "lr": 0.001, "wd": 0.0001, "batch": 512, "hidden": [ 64, 32 ], "loss": "listwise_softmax_ce", "seed": 1, "k": 25, "norms": { "pool_norm": 24, "rank_norm": 24, "tied_norm": 25 } }, "selection": { "rule": "max VAL cell R@1, tie max top1@5m, earlier epoch", "epoch": 30, "key": [ 0.4965, 0.434 ], "val_cell": { "R@1": 0.4965, "R@2": 0.663, "R@3": 0.736, "R@5": 0.843, "R@10": 0.922, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.434, "top3@5m": 0.637, "top5@5m": 0.729, "top10@5m": 0.8005 } }, "history": [ { "epoch": 1, "loss": 3.0725063104966863, "train_top1": 0.39079169006176306, "val_cell": { "R@1": 0.3405, "R@2": 0.5015, "R@3": 0.6005, "R@5": 0.7525, "R@10": 0.92, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.315, "top3@5m": 0.5315, "top5@5m": 0.6515, "top10@5m": 0.7985 } }, { "epoch": 2, "loss": 2.8325467409544083, "train_top1": 0.39865244244806286, "val_cell": { "R@1": 0.3385, "R@2": 0.5025, "R@3": 0.6005, "R@5": 0.7635, "R@10": 0.9265, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3165, "top3@5m": 0.5315, "top5@5m": 0.66, "top10@5m": 0.804 } }, { "epoch": 3, "loss": 2.59835947570608, "train_top1": 0.40482874789444134, "val_cell": { "R@1": 0.3515, "R@2": 0.5205, "R@3": 0.61, "R@5": 0.7775, "R@10": 0.9275, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3285, "top3@5m": 0.539, "top5@5m": 0.6685, "top10@5m": 0.806 } }, { "epoch": 4, "loss": 2.3567327212109315, "train_top1": 0.41493542953396967, "val_cell": { "R@1": 0.367, "R@2": 0.534, "R@3": 0.6205, "R@5": 0.7825, "R@10": 0.927, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.34, "top3@5m": 0.5415, "top5@5m": 0.6735, "top10@5m": 0.8055 } }, { "epoch": 5, "loss": 2.1338043203519876, "train_top1": 0.43458731049971927, "val_cell": { "R@1": 0.39, "R@2": 0.552, "R@3": 0.6535, "R@5": 0.7875, "R@10": 0.927, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3585, "top3@5m": 0.5725, "top5@5m": 0.6785, "top10@5m": 0.805 } }, { "epoch": 6, "loss": 1.9614729492400618, "train_top1": 0.4708029197080292, "val_cell": { "R@1": 0.4045, "R@2": 0.5805, "R@3": 0.669, "R@5": 0.8045, "R@10": 0.9275, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3715, "top3@5m": 0.5895, "top5@5m": 0.697, "top10@5m": 0.8045 } }, { "epoch": 7, "loss": 1.825634876106108, "train_top1": 0.5109489051094891, "val_cell": { "R@1": 0.4355, "R@2": 0.611, "R@3": 0.7015, "R@5": 0.8235, "R@10": 0.9265, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.395, "top3@5m": 0.6065, "top5@5m": 0.716, "top10@5m": 0.8045 } }, { "epoch": 8, "loss": 1.7020646022451786, "train_top1": 0.5485682201010668, "val_cell": { "R@1": 0.463, "R@2": 0.635, "R@3": 0.6995, "R@5": 0.8185, "R@10": 0.9315, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.412, "top3@5m": 0.6095, "top5@5m": 0.7105, "top10@5m": 0.8095 } }, { "epoch": 9, "loss": 1.6089620918855447, "train_top1": 0.56457046603032, "val_cell": { "R@1": 0.4825, "R@2": 0.627, "R@3": 0.706, "R@5": 0.8215, "R@10": 0.926, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.414, "top3@5m": 0.6115, "top5@5m": 0.7155, "top10@5m": 0.8015 } }, { "epoch": 10, "loss": 1.5462378660391582, "train_top1": 0.571027512633352, "val_cell": { "R@1": 0.482, "R@2": 0.63, "R@3": 0.7105, "R@5": 0.8265, "R@10": 0.924, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.411, "top3@5m": 0.615, "top5@5m": 0.72, "top10@5m": 0.8005 } }, { "epoch": 11, "loss": 1.5021586258179815, "train_top1": 0.5743964065131948, "val_cell": { "R@1": 0.472, "R@2": 0.6345, "R@3": 0.714, "R@5": 0.8225, "R@10": 0.922, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4105, "top3@5m": 0.619, "top5@5m": 0.714, "top10@5m": 0.7985 } }, { "epoch": 12, "loss": 1.466920322611518, "train_top1": 0.5836608646827625, "val_cell": { "R@1": 0.4705, "R@2": 0.6345, "R@3": 0.722, "R@5": 0.825, "R@10": 0.9205, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.411, "top3@5m": 0.6275, "top5@5m": 0.7155, "top10@5m": 0.7965 } }, { "epoch": 13, "loss": 1.4411952486204205, "train_top1": 0.5889949466591803, "val_cell": { "R@1": 0.4525, "R@2": 0.6415, "R@3": 0.7235, "R@5": 0.8275, "R@10": 0.917, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.407, "top3@5m": 0.627, "top5@5m": 0.718, "top10@5m": 0.794 } }, { "epoch": 14, "loss": 1.4222920805065233, "train_top1": 0.5906793935991016, "val_cell": { "R@1": 0.455, "R@2": 0.6435, "R@3": 0.73, "R@5": 0.827, "R@10": 0.9125, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4095, "top3@5m": 0.6325, "top5@5m": 0.7175, "top10@5m": 0.7915 } }, { "epoch": 15, "loss": 1.4069801871526249, "train_top1": 0.5948905109489051, "val_cell": { "R@1": 0.441, "R@2": 0.6475, "R@3": 0.7285, "R@5": 0.827, "R@10": 0.9105, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.399, "top3@5m": 0.6295, "top5@5m": 0.717, "top10@5m": 0.7895 } }, { "epoch": 16, "loss": 1.3930069133179166, "train_top1": 0.5988208871420551, "val_cell": { "R@1": 0.4455, "R@2": 0.652, "R@3": 0.727, "R@5": 0.826, "R@10": 0.912, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.403, "top3@5m": 0.63, "top5@5m": 0.7155, "top10@5m": 0.791 } }, { "epoch": 17, "loss": 1.381074834914103, "train_top1": 0.6035934868051657, "val_cell": { "R@1": 0.449, "R@2": 0.658, "R@3": 0.7265, "R@5": 0.8285, "R@10": 0.912, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.406, "top3@5m": 0.6285, "top5@5m": 0.7175, "top10@5m": 0.7905 } }, { "epoch": 18, "loss": 1.3699708241950521, "train_top1": 0.6064008983717013, "val_cell": { "R@1": 0.455, "R@2": 0.6555, "R@3": 0.726, "R@5": 0.829, "R@10": 0.9125, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4125, "top3@5m": 0.628, "top5@5m": 0.717, "top10@5m": 0.791 } }, { "epoch": 19, "loss": 1.3599917236035757, "train_top1": 0.6080853453116227, "val_cell": { "R@1": 0.4565, "R@2": 0.658, "R@3": 0.725, "R@5": 0.8295, "R@10": 0.9135, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.414, "top3@5m": 0.6275, "top5@5m": 0.7175, "top10@5m": 0.7915 } }, { "epoch": 20, "loss": 1.3491350078368576, "train_top1": 0.611734980348119, "val_cell": { "R@1": 0.4635, "R@2": 0.6595, "R@3": 0.7315, "R@5": 0.8315, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.418, "top3@5m": 0.633, "top5@5m": 0.721, "top10@5m": 0.7955 } }, { "epoch": 21, "loss": 1.3404860178584934, "train_top1": 0.6142616507580011, "val_cell": { "R@1": 0.4715, "R@2": 0.6615, "R@3": 0.7285, "R@5": 0.8315, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4145, "top3@5m": 0.63, "top5@5m": 0.72, "top10@5m": 0.7955 } }, { "epoch": 22, "loss": 1.3312074533678855, "train_top1": 0.6151038742279619, "val_cell": { "R@1": 0.4735, "R@2": 0.656, "R@3": 0.7325, "R@5": 0.8295, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.416, "top3@5m": 0.6335, "top5@5m": 0.719, "top10@5m": 0.796 } }, { "epoch": 23, "loss": 1.3237985530507357, "train_top1": 0.618192026951151, "val_cell": { "R@1": 0.479, "R@2": 0.6595, "R@3": 0.731, "R@5": 0.8305, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4195, "top3@5m": 0.633, "top5@5m": 0.7195, "top10@5m": 0.796 } }, { "epoch": 24, "loss": 1.31587720459462, "train_top1": 0.6224031443009546, "val_cell": { "R@1": 0.4795, "R@2": 0.661, "R@3": 0.7295, "R@5": 0.8325, "R@10": 0.9195, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4195, "top3@5m": 0.6305, "top5@5m": 0.7205, "top10@5m": 0.796 } }, { "epoch": 25, "loss": 1.308343165112238, "train_top1": 0.6252105558674902, "val_cell": { "R@1": 0.48, "R@2": 0.6625, "R@3": 0.732, "R@5": 0.833, "R@10": 0.9205, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.6325, "top5@5m": 0.721, "top10@5m": 0.797 } }, { "epoch": 26, "loss": 1.3021055194248583, "train_top1": 0.6268950028074116, "val_cell": { "R@1": 0.4805, "R@2": 0.6625, "R@3": 0.7295, "R@5": 0.8345, "R@10": 0.922, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4195, "top3@5m": 0.63, "top5@5m": 0.7225, "top10@5m": 0.7985 } }, { "epoch": 27, "loss": 1.2958815056309816, "train_top1": 0.626614261650758, "val_cell": { "R@1": 0.4905, "R@2": 0.6605, "R@3": 0.737, "R@5": 0.84, "R@10": 0.923, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4295, "top3@5m": 0.638, "top5@5m": 0.726, "top10@5m": 0.8015 } }, { "epoch": 28, "loss": 1.2906587674067571, "train_top1": 0.6294216732172937, "val_cell": { "R@1": 0.486, "R@2": 0.6635, "R@3": 0.735, "R@5": 0.8435, "R@10": 0.9205, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.424, "top3@5m": 0.635, "top5@5m": 0.729, "top10@5m": 0.7995 } }, { "epoch": 29, "loss": 1.2849997218440985, "train_top1": 0.6285794497473329, "val_cell": { "R@1": 0.486, "R@2": 0.665, "R@3": 0.738, "R@5": 0.845, "R@10": 0.922, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.424, "top3@5m": 0.637, "top5@5m": 0.7305, "top10@5m": 0.801 } }, { "epoch": 30, "loss": 1.2796693397732948, "train_top1": 0.6288601909039865, "val_cell": { "R@1": 0.4965, "R@2": 0.663, "R@3": 0.736, "R@5": 0.843, "R@10": 0.922, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.434, "top3@5m": 0.637, "top5@5m": 0.729, "top10@5m": 0.8005 } } ], "train_npz": "", "val_npz": "", "state_dict_shapes": { "net.0.weight": [ 64, 23 ], "net.0.bias": [ 64 ], "net.2.weight": [ 32, 64 ], "net.2.bias": [ 32 ], "net.4.weight": [ 1, 32 ], "net.4.bias": [ 1 ] }, "file": "heads/head_seed1_ht23.pt", "sha256": "4a9d4c7515a4da55755ef52d87080c20bd72c52899b79819cb5eaee70679d964" }, { "method": "Text2Loc", "dataset_version": "PandaSetPose-50-25-25", "backbone_seed": 0, "head_seed": 2, "source_path": "", "bytes": 27312, "mean": [ 0.5669337511062622, 0.5, 0.5459906458854675, 0.5000000596046448, 0.5000000596046448, 0.15268950164318085, 0.15276680886745453, 0.229922816157341, 0.5, -0.022951766848564148, 0.0024951279629021883, 0.04290569946169853, 0.22770726680755615, 0.1831778734922409, 0.5, 0.4999978542327881, 0.5, 0.38118883967399597, 0.5453479290008545, 1.401611089706421, 1.4103889465332031, 1.4579168558120728, 1.4579821825027466 ], "std": [ 0.12235581129789352, 0.3004816472530365, 0.2674662172794342, 0.3004816472530365, 0.3004816472530365, 0.3597407042980194, 0.13271069526672363, 0.3447522521018982, 0.3004816472530365, 0.05036038160324097, 0.029956268146634102, 0.04610566422343254, 0.34197258949279785, 0.28004446625709534, 0.3004816472530365, 0.2907409071922302, 0.3004816472530365, 0.16974985599517822, 0.2676073908805847, 0.9943775534629822, 0.9931334257125854, 0.9741227626800537, 0.9749917984008789 ], "pinned": [ false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false ], "feature_names": [ "cos", "cos_rank", "sp", "p0_rank", "p2_rank", "is_tied", "tied_size", "sc_center", "sc_center_rank", "off_dx", "off_dy", "off_norm", "sc_fine", "sat_fine", "sc_fine_rank", "borda", "c_rank", "n_obj", "n_matched", "dist_nearest_matched", "dist_centroid_matched", "pred_dist_anchor", "center_dist_anchor" ], "config": { "epochs": 30, "lr": 0.001, "wd": 0.0001, "batch": 512, "hidden": [ 64, 32 ], "loss": "listwise_softmax_ce", "seed": 2, "k": 25, "norms": { "pool_norm": 24, "rank_norm": 24, "tied_norm": 25 } }, "selection": { "rule": "max VAL cell R@1, tie max top1@5m, earlier epoch", "epoch": 10, "key": [ 0.49, 0.42 ], "val_cell": { "R@1": 0.49, "R@2": 0.6345, "R@3": 0.718, "R@5": 0.8255, "R@10": 0.925, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.623, "top5@5m": 0.717, "top10@5m": 0.801 } }, "history": [ { "epoch": 1, "loss": 3.121629459144425, "train_top1": 0.47417181358787197, "val_cell": { "R@1": 0.3935, "R@2": 0.5525, "R@3": 0.678, "R@5": 0.786, "R@10": 0.917, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.358, "top3@5m": 0.588, "top5@5m": 0.6815, "top10@5m": 0.797 } }, { "epoch": 2, "loss": 2.904402504069025, "train_top1": 0.4862436833239753, "val_cell": { "R@1": 0.415, "R@2": 0.577, "R@3": 0.6995, "R@5": 0.803, "R@10": 0.9265, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.378, "top3@5m": 0.6025, "top5@5m": 0.6935, "top10@5m": 0.8045 } }, { "epoch": 3, "loss": 2.6464405683638472, "train_top1": 0.4845592363840539, "val_cell": { "R@1": 0.409, "R@2": 0.581, "R@3": 0.695, "R@5": 0.8095, "R@10": 0.9275, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3735, "top3@5m": 0.5985, "top5@5m": 0.701, "top10@5m": 0.8065 } }, { "epoch": 4, "loss": 2.3448107652219745, "train_top1": 0.4823133071308254, "val_cell": { "R@1": 0.4065, "R@2": 0.5785, "R@3": 0.696, "R@5": 0.812, "R@10": 0.93, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.373, "top3@5m": 0.6005, "top5@5m": 0.7035, "top10@5m": 0.809 } }, { "epoch": 5, "loss": 2.052050547811304, "train_top1": 0.4845592363840539, "val_cell": { "R@1": 0.414, "R@2": 0.5815, "R@3": 0.7, "R@5": 0.8165, "R@10": 0.9315, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3795, "top3@5m": 0.604, "top5@5m": 0.707, "top10@5m": 0.8095 } }, { "epoch": 6, "loss": 1.8445123393237088, "train_top1": 0.5075800112296462, "val_cell": { "R@1": 0.4335, "R@2": 0.6035, "R@3": 0.71, "R@5": 0.8305, "R@10": 0.933, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.39, "top3@5m": 0.6115, "top5@5m": 0.719, "top10@5m": 0.8115 } }, { "epoch": 7, "loss": 1.705835891533005, "train_top1": 0.5404267265581134, "val_cell": { "R@1": 0.4565, "R@2": 0.635, "R@3": 0.7155, "R@5": 0.831, "R@10": 0.9355, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.397, "top3@5m": 0.622, "top5@5m": 0.722, "top10@5m": 0.8125 } }, { "epoch": 8, "loss": 1.6001200139823755, "train_top1": 0.5642897248736665, "val_cell": { "R@1": 0.482, "R@2": 0.6355, "R@3": 0.7095, "R@5": 0.8235, "R@10": 0.9325, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4145, "top3@5m": 0.6175, "top5@5m": 0.715, "top10@5m": 0.809 } }, { "epoch": 9, "loss": 1.537735512723821, "train_top1": 0.5732734418865806, "val_cell": { "R@1": 0.487, "R@2": 0.6345, "R@3": 0.714, "R@5": 0.8235, "R@10": 0.928, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4155, "top3@5m": 0.6195, "top5@5m": 0.7135, "top10@5m": 0.8025 } }, { "epoch": 10, "loss": 1.4942521737707524, "train_top1": 0.5811341942728804, "val_cell": { "R@1": 0.49, "R@2": 0.6345, "R@3": 0.718, "R@5": 0.8255, "R@10": 0.925, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.623, "top5@5m": 0.717, "top10@5m": 0.801 } }, { "epoch": 11, "loss": 1.4581233394206206, "train_top1": 0.5861875350926445, "val_cell": { "R@1": 0.469, "R@2": 0.641, "R@3": 0.7265, "R@5": 0.824, "R@10": 0.921, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4035, "top3@5m": 0.629, "top5@5m": 0.716, "top10@5m": 0.7975 } }, { "epoch": 12, "loss": 1.429155238420357, "train_top1": 0.5901179112857945, "val_cell": { "R@1": 0.46, "R@2": 0.6455, "R@3": 0.723, "R@5": 0.831, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.396, "top3@5m": 0.6245, "top5@5m": 0.722, "top10@5m": 0.7945 } }, { "epoch": 13, "loss": 1.407334726289174, "train_top1": 0.5937675463222909, "val_cell": { "R@1": 0.4615, "R@2": 0.6455, "R@3": 0.7275, "R@5": 0.8335, "R@10": 0.916, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.398, "top3@5m": 0.63, "top5@5m": 0.723, "top10@5m": 0.792 } }, { "epoch": 14, "loss": 1.3916664626878141, "train_top1": 0.5934868051656372, "val_cell": { "R@1": 0.459, "R@2": 0.6545, "R@3": 0.7265, "R@5": 0.8325, "R@10": 0.9145, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.396, "top3@5m": 0.63, "top5@5m": 0.721, "top10@5m": 0.791 } }, { "epoch": 15, "loss": 1.377499206222757, "train_top1": 0.5957327344188658, "val_cell": { "R@1": 0.4565, "R@2": 0.6545, "R@3": 0.731, "R@5": 0.834, "R@10": 0.9155, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.398, "top3@5m": 0.635, "top5@5m": 0.724, "top10@5m": 0.792 } }, { "epoch": 16, "loss": 1.3663807755973083, "train_top1": 0.5996631106120157, "val_cell": { "R@1": 0.455, "R@2": 0.654, "R@3": 0.724, "R@5": 0.8325, "R@10": 0.9125, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.3985, "top3@5m": 0.6285, "top5@5m": 0.7215, "top10@5m": 0.7895 } }, { "epoch": 17, "loss": 1.3550008687325101, "train_top1": 0.60078607523863, "val_cell": { "R@1": 0.466, "R@2": 0.654, "R@3": 0.735, "R@5": 0.8345, "R@10": 0.9165, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4065, "top3@5m": 0.638, "top5@5m": 0.724, "top10@5m": 0.7935 } }, { "epoch": 18, "loss": 1.34499396807956, "train_top1": 0.6061201572150478, "val_cell": { "R@1": 0.4685, "R@2": 0.6575, "R@3": 0.7295, "R@5": 0.83, "R@10": 0.912, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.409, "top3@5m": 0.6305, "top5@5m": 0.7195, "top10@5m": 0.7895 } }, { "epoch": 19, "loss": 1.335493706572531, "train_top1": 0.6083660864682763, "val_cell": { "R@1": 0.4725, "R@2": 0.66, "R@3": 0.7325, "R@5": 0.835, "R@10": 0.914, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.413, "top3@5m": 0.632, "top5@5m": 0.7235, "top10@5m": 0.7915 } }, { "epoch": 20, "loss": 1.3269696813965701, "train_top1": 0.611734980348119, "val_cell": { "R@1": 0.4735, "R@2": 0.664, "R@3": 0.7355, "R@5": 0.836, "R@10": 0.916, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.414, "top3@5m": 0.6355, "top5@5m": 0.7245, "top10@5m": 0.794 } }, { "epoch": 21, "loss": 1.3192076774074548, "train_top1": 0.613700168444694, "val_cell": { "R@1": 0.477, "R@2": 0.667, "R@3": 0.7335, "R@5": 0.8355, "R@10": 0.9185, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.417, "top3@5m": 0.6335, "top5@5m": 0.724, "top10@5m": 0.797 } }, { "epoch": 22, "loss": 1.312642843116876, "train_top1": 0.6153846153846154, "val_cell": { "R@1": 0.48, "R@2": 0.667, "R@3": 0.7345, "R@5": 0.838, "R@10": 0.9175, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.6345, "top5@5m": 0.7265, "top10@5m": 0.7965 } }, { "epoch": 23, "loss": 1.3066451631189397, "train_top1": 0.617630544637844, "val_cell": { "R@1": 0.4795, "R@2": 0.6665, "R@3": 0.7355, "R@5": 0.8365, "R@10": 0.9195, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.6345, "top5@5m": 0.7255, "top10@5m": 0.7985 } }, { "epoch": 24, "loss": 1.3005330859778104, "train_top1": 0.6218416619876473, "val_cell": { "R@1": 0.4785, "R@2": 0.6655, "R@3": 0.736, "R@5": 0.839, "R@10": 0.9195, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.419, "top3@5m": 0.634, "top5@5m": 0.7265, "top10@5m": 0.7985 } }, { "epoch": 25, "loss": 1.2950508656761475, "train_top1": 0.6204379562043796, "val_cell": { "R@1": 0.4795, "R@2": 0.6685, "R@3": 0.739, "R@5": 0.841, "R@10": 0.918, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.637, "top5@5m": 0.7285, "top10@5m": 0.7985 } }, { "epoch": 26, "loss": 1.289752649297077, "train_top1": 0.6195957327344188, "val_cell": { "R@1": 0.483, "R@2": 0.6685, "R@3": 0.741, "R@5": 0.844, "R@10": 0.9205, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.422, "top3@5m": 0.639, "top5@5m": 0.7305, "top10@5m": 0.7995 } }, { "epoch": 27, "loss": 1.2857040132718565, "train_top1": 0.6212801796743402, "val_cell": { "R@1": 0.486, "R@2": 0.669, "R@3": 0.741, "R@5": 0.8445, "R@10": 0.92, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.425, "top3@5m": 0.6395, "top5@5m": 0.7305, "top10@5m": 0.7995 } }, { "epoch": 28, "loss": 1.281002824190023, "train_top1": 0.6229646266142617, "val_cell": { "R@1": 0.481, "R@2": 0.6725, "R@3": 0.74, "R@5": 0.8435, "R@10": 0.919, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.42, "top3@5m": 0.638, "top5@5m": 0.7295, "top10@5m": 0.7995 } }, { "epoch": 29, "loss": 1.2774688174790174, "train_top1": 0.622122403144301, "val_cell": { "R@1": 0.4845, "R@2": 0.6715, "R@3": 0.738, "R@5": 0.85, "R@10": 0.921, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.424, "top3@5m": 0.6365, "top5@5m": 0.736, "top10@5m": 0.799 } }, { "epoch": 30, "loss": 1.273701238270759, "train_top1": 0.6254912970241437, "val_cell": { "R@1": 0.48, "R@2": 0.6675, "R@3": 0.7375, "R@5": 0.8485, "R@10": 0.92, "R@25": 0.9735 }, "val_loc": { "top1@5m": 0.4185, "top3@5m": 0.636, "top5@5m": 0.734, "top10@5m": 0.7995 } } ], "train_npz": "", "val_npz": "", "state_dict_shapes": { "net.0.weight": [ 64, 23 ], "net.0.bias": [ 64 ], "net.2.weight": [ 32, 64 ], "net.2.bias": [ 32 ], "net.4.weight": [ 1, 32 ], "net.4.bias": [ 1 ] }, "file": "heads/head_seed2_ht23.pt", "sha256": "d901b7504ef39f4fc1d31e5450dc9477d95601c0baf7354ee04fa4c394addb5a" } ], "ablation_heads": [] }